Computation and Analysis of Dexterous Workspace in PKMs
نویسندگان
چکیده
The growing interest in the use of parallel kinematic machines (PKM) in machining applications requires clear determination of the workspace, dexterity and stiffness. This paper deals with the issues regarding the use of PKM as micro machine tools. Comparison criteria are set and a quantitative analysis is made to compare the characteristics of serial and parallel kinematics with respect to their potential suitability in building micro machines. Different configurations of PKM are discussed with the mobility, workspace and stiffness characteristics as examples. An example is modelled to discuss the issues in detail and a program has been made to analyse the dexterity and workspace issues of the PKM manipulators.
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