Parallel kinematic mechanisms (PKMs) provide high stiffness and compact structures that are suitable for a large number of applications, including 5-axis milling. This paper presents a new pentapod-based PKM with an additional redundant degree-of-freedom (DOF) capable of reaching platform tilt angles of at least 90 deg over a large workspace. The proposed new PKM has a 6DOF 4 × SPRR + 1 × PSPR architecture. It is compared herein to Metrom® Pentapod as well as to several other pertinent PKMs in terms of workspace and dynamic stiffness. It is shown that the proposed mechanism can yield a tangibly larger workspace volume, when compared to those PKMs, while maintaining its high stiffness characteristics.
Comparative Analysis of a Redundant Pentapod Parallel Kinematic Machine
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received May 16, 2014; final manuscript received October 23, 2014; published online December 4, 2014. Assoc. Editor: Philippe Wenger.
Alagheband, A., Mahmoodi, M., Mills, J. K., and Benhabib, B. (August 1, 2015). "Comparative Analysis of a Redundant Pentapod Parallel Kinematic Machine." ASME. J. Mechanisms Robotics. August 2015; 7(3): 034502. https://doi.org/10.1115/1.4028933
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