Affiliation:
1. AGH University of Science and Technology
Abstract
The paper presents the process of development of a parallel manipulator for milling, and justifies why mechatronic approach can lead to successes. The resulting construction is a novel, versatile 3-RRPRR, fully-parallel manipulator with three translational degrees of freedom, characterizing in comparatively high payload capacity, large workspace and high attainable accelerations. The construction of the manipulator is shown, with analysis of its kinematics and dynamics. A controller is proposed, simulated and experimentally investigated. Finally, the conclusions and future works are presented.
Publisher
Trans Tech Publications, Ltd.
Subject
Condensed Matter Physics,General Materials Science,Atomic and Molecular Physics, and Optics
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