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Jacobian-Based Inverse Kinematics Analysis of a Pneumatic Actuated Continuum Manipulator Read chapter Read first chapter

2021 | OriginalPaper | Chapter

Analysis of a 4-DOF 3T1R Parallel Robot for Machining Applications: A Stiffness Study

Authors : Paulo Rossi, Roberto Simoni, Andrea Piga Carboni

Published in: Advances in Industrial Machines and Mechanisms

Publisher: Springer Singapore

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Abstract

This paper provides a comparative kinematic and stiffness analysis between two parallel robots for machining/CNC applications. One of them has the acknowledged 3-DOF 3T motion. The other one has 4-DOF 3T1R motion, also known as Schönflies motion. The proposed analysis first describes the robots’ kinematics, including position and differential kinematics. Afterward, a theoretical structural stiffness analysis will be provided. Then, some discussions regarding which robot presents better machining application properties are conducted. Finally, some drawbacks are appointed, and possible strategies are proposed in order to overcome these limitations.

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Footnotes
1
The WS parallelepiped shape, as depicted in Sect. 3, can be naturally calculated similar to a cube volume. However, the \(a_{2}=a_{1} {\text {sin}}\theta \) parameter should be subtracted by the Z translation magnitude, since there is a non-vanishing WS.
 
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Metadata
Title
Analysis of a 4-DOF 3T1R Parallel Robot for Machining Applications: A Stiffness Study
Authors
Paulo Rossi
Roberto Simoni
Andrea Piga Carboni
Copyright Year
2021
Publisher
Springer Singapore
Book
Advances in Industrial Machines and Mechanisms

Print ISBN: 978-981-16-1768-3

Electronic ISBN: 978-981-16-1769-0

Copyright Year: 2021

DOI
https://doi.org/10.1007/978-981-16-1769-0_15

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