Skip to Main content Skip to Navigation
Conference papers

Design and Kinematic Analysis of a Novel 2-DOF Closed-Loop Mechanism for the Actuation of Machining Robots

Abstract : The essential characteristics of machining robots are their stiffness and their accuracy. For machining tasks, serial robots have many advantages such as large workspace to footprint ratio, but they often lack the stiffness required for accurately milling hard materials. One way to increase the stiffness of serial manipulators is to make their joints using closed-loop or parallel mechanisms instead of using classical prismatic and revolute joints. This increases the accuracy of a manipulator without reducing its workspace. This paper introduces an innovative two degrees of freedom closed-loop mechanism and shows how it can be used to build serial robots featuring both high stiffness and large workspace. The design of this mechanism is described through its geometric and kinematic models. Then, the kinematic performance of the mechanism is analyzed, and a serial arrangement of several such mechanisms is proposed to obtain a potential design of a machining robot.
Complete list of metadata

https://hal.archives-ouvertes.fr/hal-03348125
Contributor : Stéphane Caro Connect in order to contact the contributor
Submitted on : Friday, September 17, 2021 - 6:15:59 PM
Last modification on : Wednesday, October 13, 2021 - 3:52:07 PM

File

IDETC_2021_70378_FV_HAL.pdf
Files produced by the author(s)

Identifiers

  • HAL Id : hal-03348125, version 1

Citation

Angelica Ginnante, François Leborne, Stéphane Caro, Enrico Simetti, Giuseppe Casalino. Design and Kinematic Analysis of a Novel 2-DOF Closed-Loop Mechanism for the Actuation of Machining Robots. The ASME 2021 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, 45th Mechanisms and Robotics Conference (MR), Aug 2021, Online, United States. ⟨hal-03348125⟩

Share

Metrics

Record views

23

Files downloads

53