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Communication Dans Un Congrès Année : 2010

Optimal Technology-Oriented Design of Parallel Robots for High-Speed Machining Applications

Résumé

In this paper, a new methodology for the optimal design of parallel kinematic machine tools is proposed. This approach is based on the concept of the maximal inscribed parallelepiped and uses technology-oriented constraints that are motivated by particular applications. This methodology is applied on two translational parallel robots with three degrees-of-freedom (DOF): the Y-STAR and the UraneSX. An analysis of the size of their workspace as a function of the design constraints is made. It is shown that, for identical workspaces with similar properties, the size of the legs of the UraneSX are greater than for the Y-STAR, thus leading to larger deformations. However, the footprint surface needed in order to install the Y-STAR is about two times bigger than for the UraneSX. Therefore, it may be interested to use the UraneSX in order to save some place on ground in manufacturing centres.
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Dates et versions

hal-00451898 , version 1 (25-06-2019)

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  • HAL Id : hal-00451898 , version 1

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Sébastien Briot, Anatol Pashkevich, Damien Chablat. Optimal Technology-Oriented Design of Parallel Robots for High-Speed Machining Applications. the 2010 IEEE International Conference on Robotics and Automation (ICRA 2010), May 2010, Anchorage, United States. ⟨hal-00451898⟩
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