REVIEW ARTICLE


Kinematic Analysis of A 3-DOF Parallel Mechanism for Milling Applications



T. A. Hess-Coelho*, G. E.E. Gojtan, G. P. Furtado
Department of Mechatronics and Mechancal Systems Engineering, University of Sao Paulo, Sao Paulo, Brazil.


© 2010 Hess-Coelho et al

open-access license: This is an open access article distributed under the terms of the Creative Commons Attribution 4.0 International Public License (CC-BY 4.0), a copy of which is available at: (https://creativecommons.org/licenses/by/4.0/legalcode). This license permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.

* Address correspondence to this author at the Department of Mechatronics and Mechancal Systems Engineering, University of Sao Paulo, Sao Paulo, Brazil; Tel: +55-11-3091-5760; Fax: 55-11-3091-5461; E-mail: tarcisio.coelho@poli.usp.br


Abstract

Parallel mechanisms have been studied during the last two decades, due to the fact that they present some potential advantages in a comparison with serial structures. This work presents the kinematic analysis of a novel 3-dof asymmetric parallel mechanism, purposely conceived for milling applications. In a comparison with the previous proposed concepts, this type of kinematic structure shows some advantages. The architecture is simpler and lighter than Tricept because it has no central passive limb. In addition, only the central active limb needs to satisfy the parallelism and orthogonality conditions. Furthermore, one degree of freedom, associated to the third actuator, is decoupled from the other two. Important issues, related to this type of kinematic structure, such as position and velocity analysis, singularity occurrence prediction and workspace evaluation, are discussed in detail.

Keywords: Kinematics, parallel mechanisms, milling.