Characterisation of parallel kinematic machines based on structural workspaces

On the Stiffness Analysis and Elastodynamics of Parallel Kinematic Machines

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...

Calibration of quasi-isotropic parallel kinematic machines: Orthoglide

The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator leg parallelism during motions between the specific test postures and employs a low-cost measuring system composed of standard comparator indicators attached to the universal magnetic stands. They ...