Kinematic and deformation analyses of a translational parallel robot for drilling tasks

R. Maldonado-Echegoyen, E. Castillo-Castaneda, M. A. Garcia-Murillo

Research output: Contribution to journalArticle

12 Scopus citations

Abstract

© 2015, The Korean Society of Mechanical Engineers and Springer-Verlag Berlin Heidelberg. A 3DOF translational parallel robot for drilling tasks based on two 5-bar mechanisms with a large workspace is presented in this study. The position analysis is performed by applying simple geometric procedures, and the velocity and acceleration analyses are developed using the theory of screws. A numerical example is included in the contribution to validate the equations of the kinematic analysis, and deformation analysis is performed to assess the accuracy considering the forces reported in the literature for drilling process. A prototype is presented, and an experimental test is performed to validate accuracy using a circular test.
Original languageAmerican English
Pages (from-to)4437-4443
Number of pages3992
JournalJournal of Mechanical Science and Technology
DOIs
StatePublished - 1 Oct 2015

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