Analysis and Design of the Tool Holder Orientation System for a PKM
(2007) MMK820Innovation
- Abstract
- Parallel kinematik machines are nowadays an important branch of investigation in
the robotics field. Its design allows for high speeds, accelerations and tool forces as
well as makes them ideals for faster cycle times and high repeatability works.
TAU is a parallel kinematic machine from ABB Company with three degrees of
freedom. Therefore, it can be positioned anywhere of the workspace but not
orientated.
This thesis is a study of the design possibilities for orienting the tool holder of the
TAU parallel kinematic machine. It have been analyzed several methods of rotation,
explaining the drawbacks and the advantages of each method and comparing between
them.
The main objective of this analysis was to create a concept design with... (More) - Parallel kinematik machines are nowadays an important branch of investigation in
the robotics field. Its design allows for high speeds, accelerations and tool forces as
well as makes them ideals for faster cycle times and high repeatability works.
TAU is a parallel kinematic machine from ABB Company with three degrees of
freedom. Therefore, it can be positioned anywhere of the workspace but not
orientated.
This thesis is a study of the design possibilities for orienting the tool holder of the
TAU parallel kinematic machine. It have been analyzed several methods of rotation,
explaining the drawbacks and the advantages of each method and comparing between
them.
The main objective of this analysis was to create a concept design with the desired
attributes of workspace, tool forces and, obviously, physically attainable; a concept
design useful for a thoroughly posterior study, indeed. (Less)
Please use this url to cite or link to this publication:
http://lup.lub.lu.se/student-papers/record/1497164
- author
- Morales Pérez, Alba
- supervisor
- organization
- course
- MMK820
- year
- 2007
- type
- H2 - Master's Degree (Two Years)
- subject
- language
- English
- id
- 1497164
- date added to LUP
- 2009-11-09 10:20:29
- date last changed
- 2010-02-01 14:40:04
@misc{1497164, abstract = {{Parallel kinematik machines are nowadays an important branch of investigation in the robotics field. Its design allows for high speeds, accelerations and tool forces as well as makes them ideals for faster cycle times and high repeatability works. TAU is a parallel kinematic machine from ABB Company with three degrees of freedom. Therefore, it can be positioned anywhere of the workspace but not orientated. This thesis is a study of the design possibilities for orienting the tool holder of the TAU parallel kinematic machine. It have been analyzed several methods of rotation, explaining the drawbacks and the advantages of each method and comparing between them. The main objective of this analysis was to create a concept design with the desired attributes of workspace, tool forces and, obviously, physically attainable; a concept design useful for a thoroughly posterior study, indeed.}}, author = {{Morales Pérez, Alba}}, language = {{eng}}, note = {{Student Paper}}, title = {{Analysis and Design of the Tool Holder Orientation System for a PKM}}, year = {{2007}}, }