Abstract
Parallel Kinematic Machines (PKMs) attract researchers and companies, because they are claimed to offer several advantages over their serial counterparts, like high structural rigidity and high dynamic performance. Indeed, the parallel kinematic arrangement of the links provides higher stiffness and lower moving masses that reduce inertia effects. PKMs have better dynamic performance, however, most of them have a complex geometrical workspace shape and highly non linear input/output relations. To actuate PKMs, rigid high-cost transmission systems are typically used in order to obtain high precision performance: Ball-screw-driven units have good stiffness and good precision for short and medium travel while linear motors have zero backlash, high stiffness, high velocities and accelerations and high costs. This work investigates the possibility to use in their place Belt-Driven Servomechanisms (BDS), which are more suitable for applications that require long actuation travels, high velocities and accelerations, and also low costs. The model of a belt-driven unit is carried out and then the task-space error analysis of a 6-Degrees-of-Freedom (DoF) robot with Hexaglide architecture is performed considering its most critical poses and using a sensitivity approach with respect to belt rigidity, gearbox backlash and friction. The minimum accuracy of the robot over its workspace is finally found with a systematic methodology.
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Negahbani, N., Giberti, H., Ferrari, D. (2016). A Belt-Driven 6-DoF Parallel Kinematic Machine. In: Kerschen, G. (eds) Nonlinear Dynamics, Volume 1. Conference Proceedings of the Society for Experimental Mechanics Series. Springer, Cham. https://doi.org/10.1007/978-3-319-15221-9_42
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DOI: https://doi.org/10.1007/978-3-319-15221-9_42
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-15220-2
Online ISBN: 978-3-319-15221-9
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