Planar Parallel Robotic Machine Design
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Parallel kinematic machines with their unique characteristics of high stiffness (their actuators bear no moment loads but act in a simple tension or compression) and high speeds and feeds (high stiffness allows higher machining speeds and feeds while providing the desired precision, surface finish, and tool life), combined with versatile contouring capabilities have made parallel mechanisms the best candidates for the machine tool industry to advance machining performance. It is noted that the stiffness is the most important factor in machine tool design since it affects the precision of machining. Therefore, to build and study a general stiffness model is a very important task for machine tool design. In this chapter, we will build a general stiffness model through the approach of kinematic and static equations. The objective of this model is to provide an understanding of how the stiffness of the mechanism changes as a function of its position and as a function of the characteristics of its components. This can be accomplished using stiffness mapping.
There are two methods to build mechanism stiffness models . Among them, the method which relies on the calculation of the parallel mechanism’s Jacobian matrix is adopted in this book.
KeywordsParallel Mechanism Flexible Beam Torsional Spring Parallel Kinematic Machine Actuate Joint
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