RT Journal Article
T1 Motion pattern analysis of parallel kinematic machines: 												A case study
A1 Altuzarra, Oscar
A1 Martín, Yon San
A1 Amezua, Enrique
A1 Hernández, Alfonso
AB This paper looks at the "five-axis machines" for machining operations. These machines have five (or six at maximum) degrees of freedom (dof). The output motion must have at least three translational and two rotational dof. This output motion pattern can be obtained with different structural topologies: serial, parallel, hybrid and with serial and/or parallel manipulators working in co-operation. The latter allows higher motion ranges in rotational and translational dof. Moreover, it provides a good stiffness, a highly valued requisite in applications like machining. Manipulators of this type are characterized by their kinematics to be integrated in the CNC, which requires the study of the relative motion between their modules. This motion is usually complex, and in certain cases presents kinematic relations not evident. This work presents a methodology to solve the motion pattern out of the direct and inverse kinematics of the relative motion between the modules of which the manipulator is composed. On the one hand, the spindle is mounted on a parallel module. On the other hand, the working table is mounted on a serial module. This methodology was applied to the Hermes parallel manipulator in combination with rotary and linear tables. As a result, a series of considerations regarding other possible combinations between modules was made and a new machine is proposed.
SN 0736-5845
YR 2009
FD 2009-04
LK https://hdl.handle.net/11556/3761
UL https://hdl.handle.net/11556/3761
LA eng
NO Altuzarra , O , Martín , Y S , Amezua , E & Hernández , A 2009 , ' Motion pattern analysis of parallel kinematic machines : A case study ' , Robotics and Computer-Integrated Manufacturing , vol. 25 , no. 2 , pp. 432-440 . https://doi.org/10.1016/j.rcim.2008.01.007
NO The authors of this article wish to acknowledge the financial assistance of the Spanish Government via the Ministry of Science and Technology (Project DPI2005-02207), the Feder funds of the European Union and the University of the Basque Country (Project 9/UPV00145.345-14494/2002).
DS TECNALIA Publications
RD 27 jul 2024