2007•arXiv (Cornell University)Open access

A Comparative Study between Two Three-DOF Parallel Kinematic Machines using Kinetostatic Criteria and Interval Analysis

Damien Chablat, Philippe Wenger, Jean‐Pierre Merlet

Abstract

This paper addresses the workspace analysis of two 3-DOF translational parallel mechanisms designed for machining applications. The two machines features three fixed linear joints. The joint axes of the first machine are orthogonal whereas these of the second are parallel. In both cases, the mobile platform moves in the Cartesian $x-y-z$ space with fixed orientation. The workspace analysis is conducted on the basis of prescribed kinetostatic performances. Interval analysis based methods are used to compute the dextrous workspace and the largest cube enclosed in this workspace.

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Key concepts: Workspace, Kinematics, Cartesian coordinate system, Interval (graph theory), Interval arithmetic, Computer science, Cube (algebra), Basis (linear algebra)