Abstract
This paper provides a comparative kinematic and stiffness analysis between two parallel robots for machining/CNC applications. One of them has the acknowledged 3-DOF 3T motion. The other one has 4-DOF 3T1R motion, also known as Schönflies motion. The proposed analysis first describes the robots’ kinematics, including position and differential kinematics. Afterward, a theoretical structural stiffness analysis will be provided. Then, some discussions regarding which robot presents better machining application properties are conducted. Finally, some drawbacks are appointed, and possible strategies are proposed in order to overcome these limitations.
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Notes
- 1.
The WS parallelepiped shape, as depicted in Sect. 3, can be naturally calculated similar to a cube volume. However, the \(a_{2}=a_{1} {\text {sin}}\theta \) parameter should be subtracted by the Z translation magnitude, since there is a non-vanishing WS.
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Acknowledgements
The authors would like to thank CAPES. Moreover, Paulo Rossi is thankful to CAPES Foundation for financial support: Bolsista da CAPES - Proc. n 88887.357849/2019-00.
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Rossi, P., Simoni, R., Carboni, A.P. (2021). Analysis of a 4-DOF 3T1R Parallel Robot for Machining Applications: A Stiffness Study. In: Rao, Y.V.D., Amarnath, C., Regalla, S.P., Javed, A., Singh, K.K. (eds) Advances in Industrial Machines and Mechanisms. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-16-1769-0_15
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