Benchmark of the 3-DOF gantry-tau parallel kinematic machine

Hovland G., Choux M., Murray M. and Brogardh T. (2007). Benchmark of the 3-DOF gantry-tau parallel kinematic machine. In: 2007 IEEE International Conference on Robotics and Automation, ICRA'07. 2007 IEEE International Conference on Robotics and Automation, ICRA'07, Rome, (535-542). April 10, 2007-April 14, 2007. doi:10.1109/ROBOT.2007.363042


Author Hovland G.
Choux M.
Murray M.
Brogardh T.
Title of paper Benchmark of the 3-DOF gantry-tau parallel kinematic machine
Conference name 2007 IEEE International Conference on Robotics and Automation, ICRA'07
Conference location Rome
Conference dates April 10, 2007-April 14, 2007
Proceedings title 2007 IEEE International Conference on Robotics and Automation, ICRA'07   Check publisher's open access policy
Series Proceedings - IEEE International Conference on Robotics and Automation
Publication Year 2007
Sub-type Fully published paper
DOI 10.1109/ROBOT.2007.363042
ISBN 1424406021
ISSN 1050-4729
Start page 535
End page 542
Total pages 8
Abstract/Summary In this paper the invited session and the 4 original contributions are described first. Then the details of the first paper in the invited session is presented. In this first paper a new method for calculating the dynamic stiffness (frequency response) of parallel kinematic machines (PKMs) with six links, or Hexapods, is presented. The method assumes that each link and universal joint can be described by a mass-springdamper model and calculates the transfer function from a Cartesian force or torque to Cartesian position or orientation. The new method has been used to benchmark two versions of the Gantry-Tau PKM, a relatively new PKM which has been designed to achieve a large workspace to installation space ratio, while at the same time achieve higher static and dynamic stiffness compared to serial-type industrial robots. The benchmark results presented in this paper show that these goals can be achieved in large sections of the workspace envelope. The benchmark also shows that machining centre specifications can be met if the location and dimensions of the work objects are known at the design stage.
Subjects 1712 Software
2207 Control and Systems Engineering
Q-Index Code E1
Q-Index Status Provisional Code
Institutional Status Unknown

Document type: Conference Paper
Collection: Scopus Import
 
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Created: Tue, 26 Nov 2013, 21:07:42 EST by System User