Modelling and preliminary design issues of a four-axis parallel machine for heavy parts handling

Abstract This paper presents a new four-degree-of-freedom parallel mechanism dedicated to the handling of heavy parts within a large workspace. These four degrees of freedom are three translations and one rotation about a given axis. Such a mechanism is rare; most common parallel mechanisms have thr...

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Bibliographic Details
Published in:Proceedings of the Institution of Mechanical Engineers. Part K, Journal of multi-body dynamics Journal of multi-body dynamics, 2002-03, Vol.216 (1), p.1-12
Main Authors: Company, O, Krut, S, Pierrot, F
Format: Article
Language:English
Subjects:
Degrees of freedom
Materials handling
Pallets
Stiffness
Translations
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Summary:Abstract This paper presents a new four-degree-of-freedom parallel mechanism dedicated to the handling of heavy parts within a large workspace. These four degrees of freedom are three translations and one rotation about a given axis. Such a mechanism is rare; most common parallel mechanisms have three or six degrees of freedom. Firstly, a description of the mechanism is given. Then models are derived regarding velocity and force transformation as input-output relationships. Finally, internal forces models and a stiffness model are evaluated. All models are embedded in a software module aimed at helping with the preliminary design of machines based on this new architecture.
ISSN:1464-4193
2041-3068
DOI:10.1177/146441930221600102