An Interval Analysis Based Study for the Design and the Comparison of 3-DOF Parallel Kinematic Machines

Damien Chablat (1) , Philippe Wenger (1) , Félix Majou (1) , Jean-Pierre Merlet (2)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 COPRIN - Constraints solving, optimization and robust interval analysis

This paper addresses an interval analysis based study that is applied to the design and the comparison of 3-DOF parallel kinematic machines. Two design criteria are used, (i) a regular workspace shape and, (ii) a kinetostatic performance index that needs to be as homogeneous as possible throughout the workspace. The interval analysis based method takes these two criteria into account: on the basis of prescribed kinetostatic performances, the workspace is analysed to find out the largest regular dextrous workspace enclosed in the Cartesian workspace. An algorithm describing this method is introduced. Two 3-DOF translational parallel mechanisms designed for machining applications are compared using this method. The first machine features three fixed linear joints which are mounted orthogonally and the second one features three linear joints which are mounted in parallel. In both cases, the mobile platform moves in the Cartesian x-y-z space with fixed orientation.

Mots clés: Parallel kinematic machine; Design; Interval analysis; Comparison; Workspace; Transmission factors; Orthoglide

Domaines: Robotique [cs.RO]

Damien Chablat, Philippe Wenger, Félix Majou, Jean-Pierre Merlet. An Interval Analysis Based Study for the Design and the Comparison of 3-DOF Parallel Kinematic Machines. The International Journal of Robotics Research, 2004, 23 (6), pp.615-624. ⟨hal-00166631⟩