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A Toolbox for Tripod Design, Simulation, and Monitoring

[+] Author Affiliations
Z. M. Bi, S. Y. T. Lang, Peter E. Orban, Marcel Verner

National Research Council of Canada

Paper No. IMECE2005-81648, pp. 115-122; 8 pages
  • ASME 2005 International Mechanical Engineering Congress and Exposition
  • Computers and Information in Engineering
  • Orlando, Florida, USA, November 5 – 11, 2005
  • Conference Sponsors: Computers and Information in Engineering Division
  • ISBN: 0-7918-4214-2 | eISBN: 0-7918-3769-6
  • Copyright © 2005 by National Research Council of Canada


The paper presents a concept and implementation of a toolbox for the design and application of the tripod-based parallel kinematic machines (PKMs). The toolbox is a suite of design tools to support the users from the conceptual design to the actual application of the tripod-based PKMs. These design tools have been individually developed in different languages and they are integrated seamlessly using a Java-based platform. Users can access all of the design tools through a user-friendly graphical interface. It is the first computer-aided design system specially developed for tripod-based PKMs. The toolbox includes some implementations of our innovative methodologies, such as a forward kinematics solver, the concept of joint workspace analysis, on-line monitoring based on forward kinematics, and the concept of motion purity analysis. The paper gives an overview on the toolbox architecture, GUI, and some key technologies.

Copyright © 2005 by National Research Council of Canada
Topics: Simulation , Design



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