A new concept of modular parallel mechanism for machining applications

The subject of this paper is the design of a new concept of modular parallel mechanisms for three, four or five-axis machining applications. Most parallel mechanisms are designed for three- or six-axis machining applications. In the last case, the position and the orientation of the tool are coupled and the shape of the workspace is complex. The aim of this paper is to use a simple parallel mechanism with two-degree-of-freedom (dof) for translation motions and to add one or two legs to add one or two-dofs for rotation motions. The kinematics and singular configurations are studied for each mechanism. Key Words: Parallel Machine Tool, Isotropic Design, and Singularity.

• Type: Conference
• Year: 2003
• Where: ICRA
• Authors: Damien Chablat, Philippe Wenger
• Keywords: ICRA 2003, Machining Applications, Modular Parallel Mechanisms, Parallel Mechanism, Robotics