Performance analysis and design of parallel kinematic machines using interval analysis

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

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 con...

Design and Kinematic Analysis of a 4-DOF Serial-Parallel Manipulator for a Driving Simulator

This paper presents the kinematic analysis and the development of a 4-degree-of-freedom serial-parallel mechanism for large commercial vehicle driving simulators. The degrees of freedom are selected according to the target maneuvers and the structure of human motion perception organs. Several kinematic properties of parallel part of the mechanism under study are investigated, including the inve...

An Interval Analysis Based Study for the Design and the Comparison of Three-Degrees-of-Freedom Parallel Kinematic Machines

This paper addresses an interval analysis based study that is applied to the design and the comparison of three-degrees-of-freedom (3-DoF) parallel kinematic machines. Two design criteria are used: (i) a regular workspace shape and (ii) a kinetostatic performance index that needs to be as homogeneous as possible throughout the workspace. The interval analysis based method takes these two criter...

An Interval Analysis Based Study for the Design and the Comparison of 3-DOF Parallel Kinematic Machines

This paper addresses an interval analysis based study that is applied to the design and the comparison of 3-DOF parallel kinematic machines. Two design criteria are used, (i) a regular workspace shape and, (ii) a kinetostatic performance index that needs to be as homogeneous as possible throughout the workspace. The interval analysis based method takes these two criteria into account: on the ba...

On the Stiffness Analysis and Elastodynamics of Parallel Kinematic Machines