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Technology-Oriented Optimization of the Secondary Design Parameters of Robots for High-Speed Machining Applications

[+] Author Affiliations
Sébastien Briot, Anatol Pashkevich

Institut de Recherches en Communications et Cybernétique de Nantes (IRCCyN); Ecole des Mines de Nantes, Nantes, France

Damien Chablat

Institut de Recherches en Communications et Cybernétique de Nantes (IRCCyN), Nantes, France

Paper No. DETC2010-28107, pp. 753-762; 10 pages
  • ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
  • Montreal, Quebec, Canada, August 15–18, 2010
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4410-6 | eISBN: 978-0-7918-3881-5
  • Copyright © 2010 by ASME


In this paper, a new methodology for the optimal design of the secondary geometric parameters (shape of links, size of the platform, etc.) of parallel kinematic machine tools is proposed. This approach aims at minimizing the total mass of the robot under position accuracy constraints. This methodology is applied to two translational parallel robots with three degrees-of-freedom (DOF): the Y-STAR and the UraneSX. The proposed approach is able to speed up the design process and to help the designer to find more quickly a set of design parameters.

Copyright © 2010 by ASME



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