Design and analysis of a redundantly actuated parallel mechanism for rapid machining. Kim, J., Park, F. C., Ryu, S. J., Kim, J., Hwang, J. C., Park, C., & Iurascu, C. C. IEEE Transactions on Robotics and Automation, 17(4):423–434, August, 2001. doi abstract bibtex This paper describes the design, construction, and performance analysis of the Eclipse, a redundantly actuated six-degree-of-freedom parallel mechanism intended for rapid machining. The Eclipse is a compact mechanism capable of performing five-face machining in a single setup while retaining the advantages of high stiffness and high accuracy characteristic of parallel mechanisms. We compare numerical and algebraic algorithms for the forward and inverse kinematics of a class of the Eclipse and formalize the notion of machine tool workspace. We also develop a simple method for the first-order elasto-kinematic analysis of parallel mechanisms that is amenable to design iterations. A complete characterization of the singularities of the Eclipse is given, and redundant actuation is proposed as a solution. The Eclipse case study demonstrates how diverse analytical tools originally developed in a robotics context can be synthesized into a practical design methodology for parallel mechanisms.
@article{kim_design_2001,
title = {Design and analysis of a redundantly actuated parallel mechanism for rapid machining},
volume = {17},
issn = {1042-296X},
doi = {10.1109/70.954755},
abstract = {This paper describes the design, construction, and performance analysis of the Eclipse, a redundantly actuated six-degree-of-freedom parallel mechanism intended for rapid machining. The Eclipse is a compact mechanism capable of performing five-face machining in a single setup while retaining the advantages of high stiffness and high accuracy characteristic of parallel mechanisms. We compare numerical and algebraic algorithms for the forward and inverse kinematics of a class of the Eclipse and formalize the notion of machine tool workspace. We also develop a simple method for the first-order elasto-kinematic analysis of parallel mechanisms that is amenable to design iterations. A complete characterization of the singularities of the Eclipse is given, and redundant actuation is proposed as a solution. The Eclipse case study demonstrates how diverse analytical tools originally developed in a robotics context can be synthesized into a practical design methodology for parallel mechanisms.},
number = {4},
journal = {IEEE Transactions on Robotics and Automation},
author = {Kim, J. and Park, F. C. and Ryu, S. J. and Kim, J. and Hwang, J. C. and Park, C. and Iurascu, C. C.},
month = aug,
year = {2001},
keywords = {6-DOF parallel mechanism, Computer numerical control, Costs, Eclipse, Machine tools, Machining, Manufacturing, Milling machines, Parallel robots, Robotics, Stiffness, Sun, algebraic algorithms, design iterations, elasticity, first-order elastokinematic analysis, five-face machining, industrial manipulators, inverse kinematics, iterative methods, kinematics, numerical algorithms, performance analysis, rapid machining, redundant manipulators, redundantly actuated parallel mechanism, singularities},
pages = {423--434}
}
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