Computation and Analysis of dexterous workspace in PKMs
The emerging interest in the use of parallel kinematic machines (PKM) for machining applications requires extensive research to address clear determination of the workspace, dexterity and stiffness issues depending on the inherent design concepts. This paper deals with the issues regarding the use of PKM as machine tools. Comparison criteria are set and a quantitative analysis is made to compare the characteristics of serial and parallel kinematics with respect to their potential suitability in building micro machines. Different configurations of PKM are discussed with the mobility, workspace and stiffness characteristics as examples. An example is modelled to discuss the issues in detail and a program has been made to analyse the dexterity and workspace issues of the PKM manipulators.
| Attachment | Size |
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| PKM2.wmv | 12.57 MB |
Thank you for your reply,
Your goal is to obtain a machine that can achieve sub-micron level accuracy. Could you tell us if the current micro-machines built with serial kinematics (I am thinking about the developments in Japan) can achieve such an accuracy?
Emmanuel
Hello Emmanuel,
In theory, PKMs should generally have better accuracies than serial kinematics machines (SKMs) as the error amplification problem in SKMs is avoided in PKMs.
In practice, as it is difficult to achieve high accuracies with the universal joints and spherical joints used in PKMs, the theoretical advantage of PKMs might not be realisable.
This means SKMs could well have better accuracies than PKMs in some cases.
Best wishes.
DTP.
Dear authors,
Thank you for your contribution to IPROMS2007. Are you aware of any previous work that uses the PKM concept to built desktop micro machines?
Emmanuel