Mechatronic design of a parallel manipulator for milling

Author

Petko, Maciej ; Karpiel, Grzegorz

Author_Institution

Dept. of Robotics & Machine Dynamics, AGH Univ. of Sci. & Technol., Krakow

fYear

2005

fDate

24-28 July 2005

Firstpage

759

Lastpage

764

Abstract

The paper presents the process of development of parallel manipulators for milling, and justifies why mechatronic approach can lead to successes. The resulting construction is a novel, versatile 3-RRPRR (revolute-revolute-prismatic-revolute-revolute joints), fully-parallel manipulator with three translational degrees of freedom, characterizing in comparatively high payload capacity, large workspace and high attainable accelerations. The construction of the manipulator is shown, with analysis of its kinematics and dynamics. An initial controller for identification is proposed, simulated and experimentally investigated. Finally, the conclusions are presented

Keywords

design; industrial manipulators; mechatronics; milling machines; manipulator construction; mechatronic design; milling; revolute-revolute-prismatic-revolute-revolute joints fully-parallel manipulator; three translational degrees of freedom; Acceleration; Actuators; Equations; Kinematics; Manipulator dynamics; Mechatronics; Metalworking machines; Milling; Payloads; Virtual prototyping;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics. Proceedings, 2005 IEEE/ASME International Conference on

Conference_Location

Monterey, CA

Print_ISBN

0-7803-9047-4

Type

conf

DOI

10.1109/AIM.2005.1511074

Filename

1511074