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Circular motion analysis for a novel 4-DOF parallel kinematic machine

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A Correction to this article was published on 15 October 2019

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Abstract

In this paper, first a novel 4-DOF parallel kinematic machine with rotational capability around a horizontal axis is presented, and its kinematics are derived and reachable workspace is obtained. Then, an interpolation algorithm for circular motion generation of a novel 4-DOF parallel kinematic machine is proposed. The algorithm consisted of two steps: the rough interpolation in end effector space, and the fine interpolation in the actuator space. Further, the method is validated by simulation of a random circular path. Moreover, experiments are conducted by machining circular profiles at different locations of workspace with varying radius, and their chordal and radial errors were obtained by measurements in profile projector and fitting with least square function in MATLAB software. Obtained results indicated that the developed parallel mechanism is capable of generating accurate motions for machining tasks.

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Change history

  • 15 October 2019

    In the original publication of the article, the affiliation of the authors was incorrectly published. The corrected affiliation is given in this correction article.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Tabriz University, Bahman 29th Blvd., Tabriz, 51666-14766, Iran

    Sina Akhbari, Ali Ghadimzadeh Alamdari & Mehran Mahboubkhah

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  1. Sina Akhbari
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  2. Ali Ghadimzadeh Alamdari
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  3. Mehran Mahboubkhah
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Correspondence to Mehran Mahboubkhah.

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Technical Editor: Victor Juliano De Negri, D.Eng.

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Akhbari, S., Ghadimzadeh Alamdari, A. & Mahboubkhah, M. Circular motion analysis for a novel 4-DOF parallel kinematic machine. J Braz. Soc. Mech. Sci. Eng. 41, 215 (2019). https://doi.org/10.1007/s40430-019-1716-9

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