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* Corresponding author 1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

Abstract : The paper addresses geometric aspects of a spatial three-degree-of-freedom parallel module, which is the parallel module of a hybrid serial-parallel 5-axis machine tool. This parallel module consists of a moving platform that is connected to a fixed base by three non-identical legs. Each leg is made up of one prismatic and two pairs of spherical joint, which are connected in a way that the combined effects of the three legs lead to an over-constrained mechanism with complex motion. This motion is defined as a simultaneous combination of rotation and translation. A method for computing the complete workspace of the VERNE parallel module for various tool lengths is presented. An algorithm describing this method is also introduced.

Keywords : singularity Parallel manipulators parallel kinematic machines workspace hybrid machine tools complex motion mobility analysis inverse kinematics singularity.

Autor: Daniel Kanaan - Philippe Wenger - Damien Chablat -



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