Abstract
In this chapter, a new family of PKM structures based on the Tau concept is described. It is shown that the non-symmetrical Tau link structures solve the problem of obtaining a large accessible workspace in relation to the footprint of a PKM and examples of large workspace of Tau PKMs are given both for rotating and linear actuators. Some results are presented from an investigation of the SCARA Tau manipulator with respect to its workspace and elastodynamical properties, showing its potential for applications with high performance requirements. The main part of the chapter is about the Gantry Tau manipulator, which is based on the same non-symmetrical link structure as the SCARA Tau manipulator. It is shown that this manipulator will get a large accessible workspace, that it can be reconfigured to increase the workspace further, that it can be calibrated to non-parallel linear guide-ways and that it can be designed for very high stiffness and bandwidth. The nominal kinematics as well as the kinematics with non parallel linear guide ways are derived and the stiffness is calculated using the duality between the statics and the link Jacobian for a PKM. The mechanical bandwidth calculations are based on a new method with mass-spring-damper link models. With the promising performance results obtained with the Tau family of manipulators, the potential for the use of these in industry is discussed.
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Brogårdh, T., Hovland, G. (2008). The Tau PKM Structures. In: Wang, L., Xi, J. (eds) Smart Devices and Machines for Advanced Manufacturing. Springer, London. https://doi.org/10.1007/978-1-84800-147-3_4
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DOI: https://doi.org/10.1007/978-1-84800-147-3_4
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