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TECHNICAL PAPERS

Investigation of a Special 6-6 Parallel Platform for Contour Milling

[+] Author and Article Information
W. A. Abbasi

S. C. Ridgeway, P. D. Adsit, C. D. Crane, J. Duffy

Center for Intelligent Machines & Robotics, 300 MEB, University of Florida, Gainesville, FL 32611

J. Manuf. Sci. Eng 122(1), 132-139 (Jan 01, 1998) (8 pages) doi:10.1115/1.538927 History: Received January 01, 1997; Revised January 01, 1998
Copyright © 2000 by ASME
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References

Kohl,  Ronald, 1994, “A Machine Tool Built from Mathematics,” Am. Machinist, October, pp. 52–55.
Fitzgerald,  J. M., 1993, “Evaluating the Stewart Platform for Manufacturing,” Robot. Today, SME, 6, No. 1, pp. 1–3.
Griffis,  M., and Duffy,  J., 1989, “A Forward Displacement Analysis of a Class of Stewart Platforms,” J. Robotic Syst., 6, No. 6, pp. 703–729.
Stewart,  D., 1965, “A Platform with Six Degrees of Freedom,” Proc. Inst. Mech. Eng., London, 180, pp. 371–386.
Raghavan,  M., 1993, “The Stewart Platform of General Geometry has 40 Configurations,” J. Mech. Design, 115, pp. 277–282.
Griffis, M., and Duffy, J., “Method and Apparatus for Controlling Geometrically Simple Parallel Mechanisms with Distinctive Connections,” US Patent No. 5,179,525, January 12, 1993.
Griffis, M., and Duffy, J., 1990, “On a General Method of Spatial Stiffness,” VIII CISM-IFToMM Symposium Ro. Man. Sy’90, Crakow, Poland, July 1990.
Griffis,  M., and Duffy,  J., 1991, “Kinestatic Control Theory: A Novel Theory for Simultaneously Regulating Force and Displacement,” ASME J. Mech. Des., 113, pp. 508–515.
Baiges, I., and Duffy, J., 1996, “Dynamic Modeling of Parallel Manipulators,” Proceedings of the 1996 ASME Design Engineering Technical Conferences and CIE Conference.

Figures

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Two Implementations of the Kinestatic Platform as applied to contour milling
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Geometric configuration of the base and top of platform
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Design parameters and associated values for the platform
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View of the Joint and Sensor attachments
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(a) Step response using a Proportional controller with high feedback gain. (b) Step response using a Proportional controller with low feedback gain.  
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Step response using a PID controller  
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Tracking errors for a constant velocity extension of 0.5 in./sec

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