Kinematic Analysis of a New Over-constrained Parallel Kinematic Machine

摘要

Parallel kinematic machines (PKMs) have attracted a lot of attention in the last three decades from research institutes to industry, due to their better performance than serial industrial robots. Although numerous types of PKMs have been proposed, only a few of them are practically used in industrial production. Exechon machine tool, which is evolved from the Tricept parallel machine and adopts an unique over-constraint architecture, is one of the recent successful developments. Its superior performance has been practically validated, but its kinematic characteristics and models have not yet been thoroughly disclosed. In this paper, the kinematic characteristics of this new machine tool will be presented, which include mobility analysis, Jacobian formulation, to workspace analysis. These models will be very useful for performance evaluation and design optimization of the machine tool.