A_New_Three-DOF_Parallel_Mechanism_Milling_Machine_Applications

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1、ANEWTHREE-DOFPARALLELMECHANISM:MILLINGMACHINEAPPLICATIONSD.CHABLATandP.WENGERInstitutdeRechercheenCommunicationetCybernétiquedeNantes1,ruelaNoë44072NANTES-FRANCEPhone+33240376947-Fax+33240376930Email:Damien.Chablat@ircyn.ec-nantes.frAbstract-Thispaperdescribesanewparallelk

2、inematicarchitectureformachiningapplications,namely,theorthoglide.ThismachinefeaturesthreefixedparallellinearjointswhicharemountedorthogonallyandamobileplatformwhichmovesintheCartesianx-y-zspacewithfixedorientation.Themaininterestoftheorthoglideisthatittakesbenefitfromthea

3、dvantagesofthepopularPPPserialmachines(regularCartesianworkspaceshapeanduniformperformances)aswellasfromtheparallelkinematicarrangementofthelinks(lessinertiaandbetterdynamicperformances),whichmakestheorthoglidewellsuitedtohigh-speedmachiningapplications.Possibleextensionof

4、theorthoglideto5-axismachiningisalsoinvestigated.1IntroductionParallelkinematicmachines(PKM)arecommonlyclaimedtoofferseveraladvantagesovertheirserialcounterpart,likehighstructuralrigidity,highdynamiccapacitiesandhighaccuracy.Ontheotherhand,theygenerallysufferfromareducedop

5、erationalworkspaceduetothepresenceofinternalsingularitiesorself-collisions.PKMwerefirstintroducedbyGoughin1956andhavebeenusedformanyyearsasflightsimulators,becauseoftheirhigherloadcarryingcapacity(Stewart1965),(GosselinandWang1998).Parallelroboticmanipulatorsappearedlaterw

6、iththefirstindustrialapplicationproposedbyClavel(Clavel1988).Parallelkinematicmachinetoolsattracttheinterestofmoreandmoreresearchersandcompanies.Sincethefirstprototypepresentedin1994duringtheIMTSinChicagobyGidding&Lewis(theVariax),manyotherprototypeshaveappearedascouldbese

7、enduringthelastWorldExhibitionEMO’99whichwasheldinParisinMay1999.Arecentcomparativestudy,conductedonthebasisofsimpleplanarmechanisms,showsthatcertainparallelkinematicstructuresdohavepotentialadvantagesovertheirserialcounterparts(Wengeretal1999).Despitethis,itisworthnotingt

8、hatmanyusersofmachinetoolsarestillnotconvincedbythepotentialbenefitsofPKM.Mostindustrial3