NDLI: Comparison of parallel kinematic machines with three translational degrees of freedom and linear actuation

Content Provider	Springer Nature Link
Author	Prause, Isabel Charaf Eddine, Sami Corves, Burkhard
Copyright Year	2015
Abstract	The development of new robot structures, in particular of parallel kinematic machines(PKM), is widely systematized by different structure synthesis methods. Recent research increasingly focuses on PKM with less than six degrees of freedom(DOF). However, an overall comparison and evaluation of these structures is missing. In order to compare symmetrical PKM with three translational DOF, different evaluation criteria are used. Workspace, maximum actuation forces and velocities, power, actuator stiffness, accuracy and transmission behavior are taken into account to investigate strengths and weaknesses of the PKMs. A selection scheme based on possible configurations of translational PKM including different frame configurations is presented. Moreover, an optimization method based on a genetic algorithm is described to determine the geometric parameters of the selected PKM for an exemplary load case and a prescribed workspace. The values of the mentioned criteria are determined for all considered PKM with respect to certain boundary conditions. The distribution and spreading of these values within the prescribed workspace is presented by using box plots for each criterion. Thereby, the performance characteristics of the different structures can be compared directly. The results show that there is no “best” PKM. Further inquiries such as dynamic or stiffness analysis are necessary to extend the comparison and to finally select a PKM.
Starting Page	841
Ending Page	850
Page Count	10
File Format	PDF
ISSN	10009345
Journal	Chinese Journal of Mechanical Engineering
Volume Number	28
Issue Number	4
e-ISSN	21928258
Language	English
Publisher	Chinese Mechanical Engineering Society
Publisher Date	2015-07-19
Publisher Place	Beijing
Access Restriction	Subscribed
Subject Keyword	parallel kinematic machines comparison benchmark selection scheme Mechanical Engineering Theoretical and Applied Mechanics Manufacturing, Machines, Tools Engineering Thermodynamics, Heat and Mass Transfer Power Electronics, Electrical Machines and Networks Electronics and Microelectronics, Instrumentation
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Mechanical Engineering

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