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RESEARCH PAPERS

Integrated Design Toolbox for Tripod-Based Parallel Kinematic Machines

[+] Author and Article Information
Z. M. Bi1

Integrated Manufacturing Technologies Institute, National Research Council of Canada, 800 Collip Circle, London, Ontario, N6G 4X8, CanadaZhuming.Bi@nrc.gc.ca

S. Y. T. Lang, D. Zhang, P. E. Orban, M. Verner

Integrated Manufacturing Technologies Institute, National Research Council of Canada, 800 Collip Circle, London, Ontario, N6G 4X8, Canada

1

Author to whom correspondence should be addressed.

J. Mech. Des 129(8), 799-807 (Jul 21, 2006) (9 pages) doi:10.1115/1.2735340 History: Received September 30, 2005; Revised July 21, 2006

This paper presents a concept and implementation of a toolbox for design and application of tripod-based parallel kinematic machines (PKMs). The toolbox is a suite of design tools to support users from conceptual design to actual application of tripod-based PKMs. These design tools have been individually developed in different languages and development environments, and are integrated seamlessly using a JAVA -based platform. Users can access all the design tools through a friendly graphical user interface (GUI). It is the first computer-aided design system specially developed for tripod-based PKMs. The toolbox includes some innovative methodologies, such as a forward kinematics solver, the concept of joint workspace, on-line monitoring based on forward kinematics, and the concept of motion purity. The paper gives an overview on the toolbox architecture and some key technologies.

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Copyright © 2007 by American Society of Mechanical Engineers
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Figures

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Figure 1

Parametric model of a tripod-based PKM: (a) System components and (b) parametric model

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Figure 2

Deformation of a passive leg

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Figure 3

Toolbox architecture

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Figure 4

Examples of tripod variations

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Figure 7

Stiffness along three motion axes

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Figure 8

Monitoring based on of joint feedback

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