17 research outputs found
Kinematic and stiffness analysis of the Orthoglide, a PKM with simple, regular workspace and homogeneous performances
International audienceThe Orthoglide is a Delta-type PKM dedicated to 3-axis rapid machining applications that was originally developed at IRCCyN in 2000-2001 to meet the advantages of both serial 3-axis machines (regular workspace and homogeneous performances) and parallel kinematic architectures (good dynamic performances and stiffness). This machine has three fixed parallel linear joints that are mounted orthogonally. The geometric parameters of the Orthoglide were defined as function of the size of a prescribed cubic Cartesian workspace that is free of singularities and internal collision. The interesting features of the Orthoglide are a regular Cartesian workspace shape, uniform performances in all directions and good compactness. In this paper, a new method is proposed to analyze the stiffness of overconstrained Delta-type manipulators, such as the Orthoglide. The Orthoglide is then benchmarked according to geometric, kinematic and stiffness criteria: workspace to footprint ratio, velocity and force transmission factors, sensitivity to geometric errors, torsional stiffness and translational stiffness
An Interval Analysis Based Study for the Design and the Comparison of 3-DOF Parallel Kinematic Machines
International audienceThis paper addresses an interval analysis based study that is applied to the design and the comparison of 3-DOF parallel kinematic machines. Two design criteria are used, (i) a regular workspace shape and, (ii) a kinetostatic performance index that needs to be as homogeneous as possible throughout the workspace. The interval analysis based method takes these two criteria into account: on the basis of prescribed kinetostatic performances, the workspace is analysed to find out the largest regular dextrous workspace enclosed in the Cartesian workspace. An algorithm describing this method is introduced. Two 3-DOF translational parallel mechanisms designed for machining applications are compared using this method. The first machine features three fixed linear joints which are mounted orthogonally and the second one features three linear joints which are mounted in parallel. In both cases, the mobile platform moves in the Cartesian x-y-z space with fixed orientation
Kinematic Analysis and Trajectory Planning of the Orthoglide 5-axis
The subject of this paper is about the kinematic analysis and the trajectory
planning of the Orthoglide 5-axis. The Orthoglide 5-axis a five degrees of
freedom parallel kinematic machine developed at IRCCyN and is made up of a
hybrid architecture, namely, a three degrees of freedom translational parallel
manip-ulator mounted in series with a two degrees of freedom parallel spherical
wrist. The simpler the kinematic modeling of the Or-thoglide 5-axis, the higher
the maximum frequency of its control loop. Indeed, the control loop of a
parallel kinematic machine should be computed with a high frequency, i.e.,
higher than 1.5 MHz, in order the manipulator to be able to reach high speed
motions with a good accuracy. Accordingly, the direct and inverse kinematic
models of the Orthoglide 5-axis, its inverse kine-matic Jacobian matrix and the
first derivative of the latter with respect to time are expressed in this
paper. It appears that the kinematic model of the manipulator under study can
be written in a quadratic form due to the hybrid architecture of the Orthoglide
5-axis. As illustrative examples, the profiles of the actuated joint angles
(lengths), velocities and accelerations that are used in the control loop of
the robot are traced for two test trajectories.Comment: Appears in International Design Engineering Technical Conferences \&
Computers and Information in Engineering Conference, Aug 2015, Boston, United
States. 201
Stiffness Analysis of 3-d.o.f. Overconstrained Translational Parallel Manipulators
The paper presents a new stiffness modelling method for overconstrained
parallel manipulators, which is applied to 3-d.o.f. translational mechanisms.
It is based on a multidimensional lumped-parameter model that replaces the link
flexibility by localized 6-d.o.f. virtual springs. In contrast to other works,
the method includes a FEA-based link stiffness evaluation and employs a new
solution strategy of the kinetostatic equations, which allows computing the
stiffness matrix for the overconstrained architectures and for the singular
manipulator postures. The advantages of the developed technique are confirmed
by application examples, which deal with comparative stiffness analysis of two
translational parallel manipulators
Technology-Oriented Optimization of the Secondary Design Parameters of Robots for High-Speed Machining Applications
International audienceIn this paper, a new methodology for the optimal design of the secondary geometric parameters (shape of links, size of the platform, etc.) of parallel kinematic machine tools is proposed. This approach aims at minimizing the total mass of the robot under position accuracy constraints. This methodology is applied to two translational parallel robots with three degrees-of-freedom (DOF): the Y-STAR and the UraneSX. The proposed approach is able to speed up the design process and to help the designer to find more quickly a set of design parameters
Stiffness Analysis of Overconstrained Parallel Manipulators
The paper presents a new stiffness modeling method for overconstrained
parallel manipulators with flexible links and compliant actuating joints. It is
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. In contrast
to other works, the method involves a FEA-based link stiffness evaluation and
employs a new solution strategy of the kinetostatic equations for the unloaded
manipulator configuration, which allows computing the stiffness matrix for the
overconstrained architectures, including singular manipulator postures. The
advantages of the developed technique are confirmed by application examples,
which deal with comparative stiffness analysis of two translational parallel
manipulators of 3-PUU and 3-PRPaR architectures. Accuracy of the proposed
approach was evaluated for a case study, which focuses on stiffness analysis of
Orthoglide parallel manipulator