The aim of this article was to introduce a few criteria for the design of PKMTs, which may become interesting alternatives for High Speed Machining, especially in the milling of large parts made of hard material, or for serial manufacturing operations on aeronautical parts. Kinetostatic criteria seem to be well adapted to the design of PKMTs, particularly for the kinematic design and for the optimisation of the workspace shape, with regard to performances uniformity. The kinetostatic criteria have been used for the design of the Orthoglide, a three-axis PKMT developed at IRCCyN. A small scale prototype is under development. A five-axis PKMT will be derived from the Orthoglide.
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