The Optimal Design of Three DegreeofFreedom Parallel Mechanisms for Machining Application.pdfVIP

Submitted to ICAR 2003 D. Chablat Ph. Wenger F. Majou The Optimal Design of Three Degree-of-Freedom Parallel Mechanisms for Machining Applications Damien Chablat - Philippe Wenger – Félix Majou Institut de Recherche en Communications et Cybernétique de Nantes1 1, rue de la Noë, 44321 Nantes, France Damien.Chablat@irccyn.ec-nantes.fr GiddingLewis (the VARIAX), many other prototypes Abstract have appeared. The subject of this paper is the optimal design of a parallel To design a parallel mechanism, two important problems must be solved. The first one is the identification of mechanism intended for three-axis machining applications. Parallel mechanisms are interesting singular configurations, which can be located inside the alternative designs in this context but most of them are workspace. For a six-dof parallel mechanism, like the designed for three- or six-axis machining applications. In Gough-Stewart platform, the location of the singular the last case, the position and the orientation of the tool configurations is very difficult to characterize and can are coupled and the shape of the workspace is complex. change under small variations in the design parameters The ai