Architecture optimization of a 3-DOF translational parallel mechanism for machining applications, the orthoglide
Damien Chablat,Philippe Wenger +1 more
- Vol. 19, Iss: 3, pp 403-410
TLDR
The Orthoglide as discussed by the authors is a three-degree-of-freedom translational parallel mechanism designed for machining applications with a regular Cartesian workspace shape, uniform performances in all directions, and good compactness.Abstract:
This paper addresses the architecture optimization of a three-degree-of-freedom translational parallel mechanism designed for machining applications. The design optimization is conducted on the basis of a prescribed Cartesian workspace with prescribed kinetostatic performances. The resulting machine, the Orthoglide, features three fixed parallel linear joints which are mounted orthogonally, and a mobile platform which moves in the Cartesian x-y-z space with fixed orientation. The interesting features of the Orthoglide are a regular Cartesian workspace shape, uniform performances in all directions, and good compactness. A small-scale prototype of the Orthoglide under development is presented at the end of this paper.read more
Citations
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Stiffness analysis of overconstrained parallel manipulators
TL;DR: A new stiffness modeling method for overconstrained parallel manipulators with flexible links and compliant actuating joints is presented, based on a multidimensional lumped-parameter model that replaces the link flexibility by localized 6-dof virtual springs that describe both translational/rotational compliance and the coupling between them.
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Performance evaluation of parallel manipulators: Motion/force transmissibility and its index
Jinsong Wang,Chao Wu,Xin-Jun Liu +2 more
TL;DR: In this paper, a generalized transmission index that can evaluate the motion/force transmissibility of fully parallel manipulators is proposed based on the virtual coefficient and is relative to singularity.
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Enhanced stiffness modeling of manipulators with passive joints
TL;DR: In this paper, a non-linear stiffness model for serial and parallel manipulators with passive joints is presented, where the manipulator elements are presented as pseudo-rigid bodies separated by multidimensional virtual springs and perfect passive joints.
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Structural synthesis of fully-isotropic translational parallel robots via theory of linear transformations
TL;DR: In this paper, a structural synthesis approach of fully-isotropic translational parallel robotic manipulators (TPMs) based on the theory of linear transformations is presented, which allows us to obtain all structural solutions of TPMs in a systematic manner.
Journal ArticleDOI
A new methodology for optimal kinematic design of parallel mechanisms
Xin-Jun Liu,Jinsong Wang +1 more
TL;DR: In this article, the authors proposed an optimal kinematic design methodology, referred to as Performance Chart based Design Methodology (PCbDM), for parallel mechanisms with fewer than five linear parameters.
References
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