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Communication Dans Un Congrès Année : 2021

Design and Kinematic Analysis of a Novel 2-DOF Closed-Loop Mechanism for the Actuation of Machining Robots

Résumé

The essential characteristics of machining robots are their stiffness and their accuracy. For machining tasks, serial robots have many advantages such as large workspace to footprint ratio, but they often lack the stiffness required for accurately milling hard materials. One way to increase the stiffness of serial manipulators is to make their joints using closed-loop or parallel mechanisms instead of using classical prismatic and revolute joints. This increases the accuracy of a manipulator without reducing its workspace. This paper introduces an innovative two degrees of freedom closed-loop mechanism and shows how it can be used to build serial robots featuring both high stiffness and large workspace. The design of this mechanism is described through its geometric and kinematic models. Then, the kinematic performance of the mechanism is analyzed, and a serial arrangement of several such mechanisms is proposed to obtain a potential design of a machining robot.
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Dates et versions

hal-03348125 , version 1 (17-09-2021)

Identifiants

  • HAL Id : hal-03348125 , version 1

Citer

Angelica Ginnante, François Leborne, Stéphane Caro, Enrico Simetti, Giuseppe Casalino. Design and Kinematic Analysis of a Novel 2-DOF Closed-Loop Mechanism for the Actuation of Machining Robots. The ASME 2021 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, 45th Mechanisms and Robotics Conference (MR), Aug 2021, Online, United States. ⟨hal-03348125⟩
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