PARALLEL MECHANICAL SYSTEM FOR 3-D MEASURE OF SMOOTH SURFACES

摘要

A new parallel manipulator POLMAN-3 for the use of the measurement applications is presented in the paper. It is parallel mechanical arragement with three degrees of freedom equipped with typical slide gauges and computer for acquisition of the data. Manipulator is consist of three properly situated serial-parallel chains connected in parallel way to mobile platform, which has the form of half-spatial cross. It is equipped with spherical joints and is attached to actuated mechanisms with using six identical rods similarly to the DELTA robot [1]. Because of good isotropy [2] of the mechanical part, and homogenous space structure, mechanism has very good kinematic manipulability, and so the generated errors are similar in each direction in 3-D space and similar to errors of slide gauges. All gauges are mounted in the base of the system. Manipulator can be use for the measure of smooth surfaces after technological operations. Because of special geometry some properties of its are similar to the cartesian manipulator. Adopted kinematic systems allows for easy solution of both inverse and direct kinematic tasks [3]. Mechanical construction of the system are modular and very light, each elements are low cost in fabrication.