Title :
Mechatronic design of a parallel manipulator for milling
Author :
Petko, Maciej ; Karpiel, Grzegorz
Author_Institution :
Dept. of Robotics & Machine Dynamics, AGH Univ. of Sci. & Technol., Krakow
Abstract :
The paper presents the process of development of parallel manipulators for milling, and justifies why mechatronic approach can lead to successes. The resulting construction is a novel, versatile 3-RRPRR (revolute-revolute-prismatic-revolute-revolute joints), fully-parallel manipulator with three translational degrees of freedom, characterizing in comparatively high payload capacity, large workspace and high attainable accelerations. The construction of the manipulator is shown, with analysis of its kinematics and dynamics. An initial controller for identification is proposed, simulated and experimentally investigated. Finally, the conclusions are presented
Keywords :
design; industrial manipulators; mechatronics; milling machines; manipulator construction; mechatronic design; milling; revolute-revolute-prismatic-revolute-revolute joints fully-parallel manipulator; three translational degrees of freedom; Acceleration; Actuators; Equations; Kinematics; Manipulator dynamics; Mechatronics; Metalworking machines; Milling; Payloads; Virtual prototyping;
Conference_Titel :
Advanced Intelligent Mechatronics. Proceedings, 2005 IEEE/ASME International Conference on
Conference_Location :
Monterey, CA
Print_ISBN :
0-7803-9047-4
DOI :
10.1109/AIM.2005.1511074
