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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Two Implementations of the Kinestatic Platform as applied to contour milling
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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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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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