Pott, Andreas; Boye, Tim; Hiller, Manfred:
Parameter Synthesis for Parallel Kinematic Machines from Given Process Requirements
In: IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM 2005 - Universität Duisburg-Essen Chair of Mechatronics Lotharstr. 1, D-47057 Duisburg Germany, 2005, -
Buchaufsatz/Kapitel in Sammelwerk / Fach: Maschinenbau
Titel:
Parameter Synthesis for Parallel Kinematic Machines from Given Process Requirements
Autor(in):
Pott, Andreas; Boye, Tim; Hiller, Manfred im Online-Personal- und -Vorlesungsverzeichnis LSF anzeigen
Erscheinungsjahr:
2005
Erschienen in:
IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM 2005 - Universität Duisburg-Essen Chair of Mechatronics Lotharstr. 1, D-47057 Duisburg Germany, 2005, -

Abstract:

Parallel kinematic machines (PKM) are complex systems which kinematic properties vary in the workspace. Normally the machine’s task implies requirements e. g. size of the workspace and dexterity that must be taken into account for the design of the machine. In this paper we demonstrate geometrical parameter synthesis based on interval analysis for the parallel kinematic machine with constant leg length Linapod. The proposed algorithm enables us to determine all parameter sets that fulfill given process requirements like size of the orientation workspace and a given upper bound on the kinematic dexterity of the machine. The use of interval analysis guarantees the validity of the results and makes the procedure robust against numerical instability. The method is extendable for additional process requirements.