Parallel Kinematic Machine

In: Science

Submitted By arjunam16
Words 6225
Pages 25
CHAPTER 1

INTRODUCTION

1.1 INTRODUCTION

A parallel mechanism is a closed-loop mechanism of which the end-effector is connected to the base by a multitude of independent kinematic chains. Generally it comprises two platforms which are connected by joints or legs acting in parallel.
In recent years, parallel kinematic mechanisms have attracted a lot of attention from the academic and industrial communities due to their potential applications not only as robot manipulators but also as machine tools. The dream of all developers in Machine Tools has always been to combine the flexibility and envelope of the robots with the accuracy and stiffness of traditional Machine Tools. In the last 20 years the focus of this development has been Parallel Kinematics Machines so called PKM. This technology means that the motions in X, Y and Z are performed by three or more parallel axis that gives an outstanding stiffness and accuracy with a maintained flexibility and envelope.
Generally, the criteria used to compare the performance of traditional serial robots and parallel robots are the workspace, the ratio between the payload and the robot mass, accuracy, and dynamic behavior. In addition to the reduced coupling effect between joints, parallel robots bring the benefits of much higher payload-robot mass ratios, superior accuracy and greater stiffness; qualities which lead to better dynamic performance. The main drawback with parallel robots is the relatively small workspace.

1.2 OUTLAY OF PROJECT REPORT

Objective of our major project is to model, design and fabricate a 2-axis Parallel Kinematic Machine and to test the same for a Point to Point contour movement. Report has been divided into four main modules namely Modelling, Design, Fabrication and Testing of the PKM.
Report starts with considerable amount of literature survey carried out to better define our…...

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