Abstract
A 3DOF translational parallel robot for drilling tasks based on two 5-bar mechanisms with a large workspace is presented in this study. The position analysis is performed by applying simple geometric procedures, and the velocity and acceleration analyses are developed using the theory of screws. A numerical example is included in the contribution to validate the equations of the kinematic analysis, and deformation analysis is performed to assess the accuracy considering the forces reported in the literature for drilling process. A prototype is presented, and an experimental test is performed to validate accuracy using a circular test.
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R. Maldonado-Echegoyen received the degree of Industrial Robotics Engineering in 2009 from IPN- ESIME Azcapotzalco, México. In 2011, he obtained a Master’s degree in Manufacturing Engineering from SEPI-ESIME UA, Mexico. He is currently taking his Ph.D. in Advanced Technology from IPN–CICATA, Querétaro.
E. Castillo-Castaneda received the degree of Mechanical-Electrical Engineering in 1987 from the National Autonomous University of Mexico. In 1994, he obtained his Ph.D. in Automatic Control from Grenoble Institute of Technology, France. He is currently a professor at the National Polytechnic Institute, Mexico. His current research is related to precision engineering, computer vision, and the design and control of parallel manipulators.
M. A. Garcia-Murillo received the degree in Mechanical Engineering from Universidad Autónoma Chapingo in 2008. In 2010, he obtained the M.Sc. degree in Mechanical Engineering from Instituto Tecnológico de Celaya, México. He gained his Ph.D from IPN CICATA Querétaro in 2014.
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Maldonado-Echegoyen, R., Castillo-Castaneda, E. & Garcia-Murillo, M.A. Kinematic and deformation analyses of a translational parallel robot for drilling tasks. J Mech Sci Technol 29, 4437–4443 (2015). https://doi.org/10.1007/s12206-015-0942-z
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DOI: https://doi.org/10.1007/s12206-015-0942-z