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Abstract: Most industrial machine tools have a serial kinematic architecture, whichmeans that each axis has to carry the following one, including its actuatorsand joints. High Speed Machining highlights some drawbacks of sucharchitectures: heavy moving parts require from the machine structure highstiffness to limit bending problems that lower the machine accuracy, and limitthe dynamic performances of the feed axes. That is why PKMs attract more andmore researchers and companies, because they are claimed to offer severaladvantages over their serial counterparts, like high structural rigidity andhigh dynamic capacities. Indeed, the parallel kinematic arrangement of thelinks provides higher stiffness and lower moving masses that reduce inertiaeffects. Thus, PKMs have better dynamic performances. However, the design of aparallel kinematic machine tool (PKMT) is a hard task that requires furtherresearch studies before wide industrial use can be expected. Many criteria needto be taken into account in the design of a PKMT. We pay special attention tothe description of kinetostatic criteria that rely on the conditioning of theJacobian matrix of the mechanism. The organisation of this paper is as follows:next section introduces general remarks about PKMs, then is explained why PKMscan be interesting alternative machine tool designs. Then are presentedexisting PKMTs. An application to the design of a small-scale machine toolprototype developed at IRCCyN is presented at the end of this paper.



Autor: Félix Majou (IRCCyN), Philippe Wenger (IRCCyN), Damien Chablat (IRCCyN)

Fuente: https://arxiv.org/







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