NDLI: Definition of a new static model of Parallel Kinematic Machines: Highlighting of overconstraint influence

Content Provider	IEEE Xplore Digital Library
Author	Bonnemains, T. Chanal, H. Bouzgarrou, C. Ray, P.
Copyright Year	2008
Description	Author affiliation: LAMI, IFMA/UBP, Aubiere (Bonnemains, T.; Chanal, H.; Bouzgarrou, C.; Ray, P.)
Abstract	This paper deals with static behaviour modelling of Parallel Kinematic Machines (PKMs). Due to their high dynamic abilities, PKMs are subjected to high inertial and cutting loads while machining. These loads generate structure deflection, and thus tool pose defects. The aim of this article is to present a predictable model of PKMs. This model could be useful to optimize part positioning in the workspace or adapt machining strategies in order to minimize the influence of structure deflections. The proposed model takes into account legs and joints compliances. Considering the geometry of most of parallel architectures, the legs are modelled as beams. The focus, here, is particularly on joint models. In the literature, when the compliance of joints is considered, it is always modelled with a constant stiffness. In this paper, a different approach is proposed, based on a technical analysis of the joints and non linear models are chosen. Models proposed are applied to an existing PKM: the Tricept. The parameters of this model (i.e. the stiffness of the joints) are then identified, thanks to experimental stiffness measurements done on a ABB 940 Tricept robot. Finally, a second architecture is studied. This machine is overconstrained even if it is very close to the Tricept architecture. The same modelling method is applied and the static behaviours of the two machines are compared. Thus, the effect of overconstraint on static behaviour is analysed.
Starting Page	2416
Ending Page	2421
File Size	1484519
Page Count	6
File Format	PDF
ISBN	9781424420575
DOI	10.1109/IROS.2008.4650957
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-22
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Leg Joints Computational modeling Adaptation model Mathematical model Load modeling Analytical models High Speed Machining Parallel Kinematic Machine Static behaviour Overconstrained mechanism
Content Type	Text
Resource Type	Article

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