Optimal trajectory planning of a 5-axis machine tool based on a 6-axis parallel manipulator.

Jean-Pierre Merlet 1 M.-W. Perng 2 David Daney 1
1 SAGA - Algebraic Systems, Geometry and Applications
CRISAM - Inria Sophia Antipolis - Méditerranée
2 Tsing Hua University
Abstract : Many new machine-tool are based on a hexapod structure, a parallel robot with 6 DOF, While only 5 of them are needed for the machining operations as the rotation of the end-effector around its normal is not used. We have therefore an extra DoF: we propose an algorithm which is able to determine for almost any trajectory of the machine the values of the extra DoF to ensure that the trajectory lie within the workspace of the robot is singularity -free and furthermore optimize an arbitrary criterion
Type de document :
Chapitre d'ouvrage
Lenarčič, J. and Stanišić, M.M. Advances in Robot Kinematics, Springer, pp.315-322, 2000, 978-94-010-5803-2. 〈10.1007/978-94-011-4120-8_33〉
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https://hal.inria.fr/hal-00906477
Contributeur : David Daney <>
Soumis le : mardi 19 novembre 2013 - 19:26:14
Dernière modification le : samedi 27 janvier 2018 - 01:30:54
Document(s) archivé(s) le : jeudi 20 février 2014 - 09:41:55

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Jean-Pierre Merlet, M.-W. Perng, David Daney. Optimal trajectory planning of a 5-axis machine tool based on a 6-axis parallel manipulator.. Lenarčič, J. and Stanišić, M.M. Advances in Robot Kinematics, Springer, pp.315-322, 2000, 978-94-010-5803-2. 〈10.1007/978-94-011-4120-8_33〉. 〈hal-00906477〉

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