Stiffness Measurement of Parallel Kinematic Machines Considering Gravity Effect

On the Stiffness Analysis and Elastodynamics of Parallel Kinematic Machines

Stiffness Estimation of a Tripod-based Parallel Kinematic Machine

This paper presents a simple yet comprehensive approach that enables the stiffness of a tripod-based parallel kinematic machine to be quickly estimated. The approach can be implemented by two steps. In the first step, the machine structure is decomposed into two substructures associated with the machine frame and the parallel mechanism. The stiffness model of each substructure is formulated by ...

Constrained Multi-Objective Trajectory Planning of Parallel Kinematic Machines

This paper presents a new approach to multi-objective dynamic trajectory planning of Parallel Kinematic Machines (PKM) under task, workspace and manipulator constraints. The robot kinematic and dynamic models, (including actuators) are first developed. Then the proposed trajectory planning system is introduced. It minimizes electrical and kinetic energy, robot travel time separating two samplin...

Calibration of Parallel Kinematic Machines: Theory and Applications

Development of Reconfigurable Parallel Kinematic Machines using Modular Design Approach

This paper introduces the theoretical design of reconfigurable machine tools using modular design approach. First, the general concept of modular robot and its growing need is introduced. Second, the design of reconfigurable parallel kinematic machines is discussed and the geometric modeling of such figures is presented and explained, and potential applications are described. Finally, a case st...