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Analysis and Design of the Tool Holder Orientation System for a PKM

Morales Pérez, Alba (2007) MMK820
Innovation
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:
author
Morales Pérez, Alba
supervisor
organization
course
MMK820
year
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}},
}