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On Performance Enhancement of Parallel Kinematic Machine

[+] Author Affiliations
Dan Zhang

University of Ontario Institute of Technology, Oshawa, ON, Canada

Lihui Wang

National Research Council of Canada, London, ON, Canada

Paper No. DETC2005-85034, pp. 123-129; 7 pages
  • ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 31st Design Automation Conference, Parts A and B
  • Long Beach, California, USA, September 24–28, 2005
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4739-X | eISBN: 0-7918-3766-1
  • Copyright © 2005 by ASME


This paper proposes a spatial three degrees of freedom parallel kinematic machine enhanced by a passive leg and a web-based remote control system. First, the geometric model of the three degrees of freedom parallel kinematic machine is addressed; in the mechanism, a fourth kinematic link — a passive link connecting the base center to the moving platform center — is introduced. This last link is used to constrain the motion of the tool (located in the moving platform) to only three degrees of freedom, as well as to enhance the global stiffness of the structure and distribute the torque from machining. With the kinematic model, a web-based remote control approach is then applied. The concept of the web-based remote manipulation approach is introduced and the principles behind the method are explored in detail. Finally, an example of remote manipulation is demonstrated to the proposed 3-DOF structure using web-based remote control concept before conclusions.

Copyright © 2005 by ASME
Topics: Machinery



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