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Two-mode overconstrained three-DOFs rotational-translational linear-motor-based parallel-kinematics mechanism for machine tool applications

Published online by Cambridge University Press:  19 March 2007

Sameh Refaat,
Jacques M. Hervé,
Saeid Nahavandi and
Hieu Trinh
Sameh Refaat
Affiliation:
Intelligent Systems Research Laboratory, Deakin University, Geelong, VIC 3217, Australia.
Jacques M. Hervé
Affiliation:
Ecole Centrale Paris, 92295 Châtenay-Malabry, France.
Saeid Nahavandi*
Affiliation:
Intelligent Systems Research Laboratory, Deakin University, Geelong, VIC 3217, Australia.
Hieu Trinh
Affiliation:
Intelligent Systems Research Laboratory, Deakin University, Geelong, VIC 3217, Australia.
*
*Corresponding author. E-mail: nahavand@deakin.edu.au
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Summary

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The paper introduces a family of three-DOFs translational-rotational Parallel-Kinematics Mechanisms (PKMs) as well as the mobility analysis of such family using Lie-group theory. Each member of this family has two-rotational one-translational DOFs. A novel mechanism is presented and analyzed as a representative of that family. The use and the practical value of that modular mechanism are emphasized.

Keywords

Overconstrained mechanismsSymmetric parallel-kinematics mechanismsRotational-translational mechanismsThree-DOFs PKMsLinear motorHigh-speedHigh-accelerationFive-axis machine-tools

Information

Type
Article
Information
Robotica , Volume 25 , Issue 4 , July 2007, pp. 461 - 466
Copyright
Copyright © Cambridge University Press 2007

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