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Eclipse: an Overactuated Parallel Mechanism for Rapid Machining

  • S.-J. Ryu
  • J. W. Kim
  • J. C. Hwang
  • C. Park
  • H. Sang Cho
  • K. Lee
  • Y. Lee
  • U. Cornel
  • F. C. Park
  • J. Kim
Conference paper
Part of the Advanced Manufacturing book series (ADVMANUF)

Abstract

This paper describes the design, construction, and experimental results of the Eclipse, a novel 6 d.o.f. parallel mechanism designed for rapid machining. The Eclipse is designed to be capable of performing 5-face machining while retaining the advantages of high stiffness, high accuracy, and compact size characteristic of parallel mechanisms. We describe the kinematic structure of the Eclipse, including computational procedures for the forward and inverse kinematics, as well as results of workspace, stiffness, and singularity analysis. The Eclipse has 8 actuators. The overactuation is necessary in order to eliminate kinematic singularities present in the internal workspace of the mechanism. Experimental results obtained with a prototype capable of machining plastic stock are described. We conclude with a summary of what we believe are some of the critical issues in designing parallel mechanism-based machine tools.

Keywords

Machine Tool Parallel Mechanism Inverse Kinematic Spherical Joint Forward Kinematic 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag London Limited 1999

Authors and Affiliations

  • S.-J. Ryu
    • 1
  • J. W. Kim
    • 1
  • J. C. Hwang
    • 1
  • C. Park
    • 1
  • H. Sang Cho
    • 1
  • K. Lee
    • 1
  • Y. Lee
    • 1
  • U. Cornel
    • 1
  • F. C. Park
    • 1
  • J. Kim
    • 1
  1. 1.School of Mechanical EngineeringSeoul National UniversityKorea

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