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TECHNICAL PAPERS

Performance Analysis of Parallel Mechanism Architectures for CNC Machining Applications

[+] Author and Article Information
Jinwook Kim, Changbeom Park, Jongwon Kim, F. C. Park

  School of Mechanical and Aerospace Engineering, Seoul National University, Seoul 151-742, Korea

J. Manuf. Sci. Eng 122(4), 753-759 (Dec 01, 1999) (7 pages) doi:10.1115/1.1289290 History: Received January 01, 1997; Revised December 01, 1999
Copyright © 2000 by ASME
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References

Stewart,  D., 1966, “A platform with six degrees of freedom,” Proc. Inst. Mech. Eng., 180, Part I, No. 15, pp. 371–386.
Yoshikawa,  T., 1985, “Manipulability of robotic mechanisms,” Int. J. Robot. Res., 4, No. 2, pp. 3–9.
Klein,  C. A., and Blaho,  B., 1987, “Dexterity measures for the design and control of kinematically redundant manipulators,” Int. J. Robot. Res., 6, No. 2, pp. 72–83.
Stoughton,  R., and Arai,  T., 1993, “A modified Stewart platform manipulator with improved dexterity,” IEEE Trans. Rob. Autom., 9, No. 2, pp. 166–173.
Gosselin,  C. M., and Angeles,  J., 1988, “The optimum kinematic design of a planar three-degree-of-freedom parallel manipulator,” ASME J. Mech., Transm., Autom. Des., 110, pp. 35–41.
Salisbury,  J. K., and Craig,  J. J., 1982, “Articulated hands: force control and kinematic issues,” Int. J. Robot. Res., 1, No. 1, pp. 4–17.
Park,  F. C., 1995, “Optimal robot design and differential geometry,” Trans. ASME 50th Anniv. Special Issue, 117(B), pp. 87–92.
Duffy,  J., 1990, “The fallacy of modern hybrid control theory that is based on ‘orthogonal complements’ of twist and wrench spaces,” J. Rob. Syst., 7, No. 2, pp. 139–144.
Park,  F. C., 1995, “Distance metrics on the rigid-body motions with applications to mechanism design,” ASME J. Mech. Des., 117, No. 1, pp. 48–54.
Park,  F. C., and Kim,  J. W., 1998, “Manipulability of closed kinematic chains,” ASME J. Mech. Des., 120, No. 4, pp. 542–548.
Griffis,  M., and Duffy,  J., 1993, “Global stiffness modeling of a class of simple compliant couplings,” Mech. Mach. Theory, 28, No. 2.
Patterson,  T., and Lipkin,  H., 1993, “Structure of robot compliance,” ASME J. Mech. Des., 115, No. 3, pp. 576–580.
Loncaric,  J., 1987, “Normal forms of stiffness and compliance matrices,” IEEE Trans. Rob. Autom., 3, No. 6, pp. 567–572.
Bhattarchaya,  S., Hatwal,  H., Ghosh,  A., 1995, “On the optimum design of Stewart platform type parallel manipulators,” Robotica, 13, pp. 133–140.
Behi,  F., 1988, “Kinematic analysis for a six degree-of-freedom 3-PRPS parallel mechanism,” IEEE J. Rob. Autom., 4, No. 5, pp. 561–565.
Valenti,  M., 1995, “Machine tools get smarter,” ASME Mech. Eng., 117, No. 11, pp. 70–75, November.
Park, F. C., and Kim, J. W., 1999, “Singularity analysis of closed kinematic chains,” ASME J. Mech. Des., 121 , No. 1 (to appear).

Figures

Grahic Jump Location
The concept of machine tool workspace for tilting angle β
Grahic Jump Location
Position manipulability ellipsoid of Stewart-Gough Platform in the home posture
Grahic Jump Location
Orientation manipulability ellipsoid of Stewart-Gough Platform in the home posture
Grahic Jump Location
Position stiffness ellipsoid of Stewart-Gough Platform in the home posture
Grahic Jump Location
Orientation stiffness ellipsoid of Stewart-Gough Platform in the home posture
Grahic Jump Location
Position workspace of Stewart-Gough Platform for tilting angle 0 deg, side view
Grahic Jump Location
Position workspace of Stewart-Gough Platform for tilting angle 0 deg, top view
Grahic Jump Location
Position workspace of Stewart-Gough Platform for tilting angle 40 deg, side view
Grahic Jump Location
Position workspace of Stewart-Gough Platform for tilting angle 40 deg, top view
Grahic Jump Location
Position manipulability ellipsoid of the 3-PRPS Mechanism in the home posture
Grahic Jump Location
Orientation manipulability ellipsoid of the 3-PRPS Mechanism in the home posture
Grahic Jump Location
Position stiffness ellipsoid of the 3-PRPS mechanism in the home posture
Grahic Jump Location
Orientation stiffness ellipsoid of the 3-PRPS Mechanism in the home posture
Grahic Jump Location
Position workspace of the 3-PRPS Mechanism for tilting angle 0 deg, side view
Grahic Jump Location
Position workspace of the 3-PRPS Mechanism for tilting angle 0 deg, top view
Grahic Jump Location
Position workspace of the 3-PRPS Mechanism for tilting angle 40 deg, side view
Grahic Jump Location
Position workspace of the 3-PRPS Mechanism for tilting angle 40 deg, top view

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