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Parallel manipulators are close-chain mechanisms. Compared with conventional machine tools, it seems very much difference between them. Parallel manipulators have been recognized that this kind of manipulators possess the following three advantages compared with conventional machining: 1) higher force/torque capacity; 2) higher structural rigidity; 3) higher accuracy due to the noncumulative joint errors. Therefore, they were called "Second Generational Machines". But parallel manipulators apply many complThis dissertation presents a new 6 DOF parallel manipulator intended to be used as a high speed milling machine. It is similar to a Hexaglide but instead of variable joint end effector two sections, it has (1)6 linear motors (2)6 constant leg bars (3) linking the platform with tools. The screw theory is adopted in this paper to calculate the kinematics and singularities of a newly-parallel manipulator. The purposes are to slove the kinematics problems and to forecast singularities for by variability for the
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