A Comparative Study of Parallel Kinematic Architectures for Machining Applications

TL;DR

This paper compares three 2-DOF parallel kinematic mechanisms for machining, evaluating their workspace, performance, and size to inform design choices for extending to 3-axis machines.

Contribution

It provides a systematic comparison of three parallel kinematic architectures for machining, focusing on workspace, performance, and size, aiding future design improvements.

Findings

All mechanisms achieve the desired rectangular workspace.

Performance metrics are comparable across the three designs.

Machine size varies significantly, influencing design selection.

Abstract

Parallel kinematic mechanisms are interesting alternative designs for machining applications. Three 2-DOF parallel mechanism architectures dedicated to machining applications are studied in this paper. The three mechanisms have two constant length struts gliding along fixed linear actuated joints with different relative orientation. The comparative study is conducted on the basis of a same prescribed Cartesian workspace for the three mechanisms. The common desired workspace properties are a rectangular shape and given kinetostatic performances. The machine size of each resulting design is used as a comparative criterion. The 2-DOF machine mechanisms analyzed in this paper can be extended to 3-axis machines by adding a third joint.