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Kineto-static optimisation of PKMs (Articolo in rivista)

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Molinari Tosatti L., Fassi I., Legnani G. (2003)
Kineto-static optimisation of PKMs
in CIRP annals; Elsevier, Amsterdam (Paesi Bassi)
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CIRP annals are the annual official pubblication of the International Institution for Production Engineering Research founded in 1951. The idea for the creation of CIRP came from French Engineer General Pierre Nicolau who understood, in the years following World War II, that it was essential to promote the scientific understanding of production engineering technologies in order to increase productivity of manufacturing industries. CIRP Annals respect the ISI standards. (literal)

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One of the main drawbacks of PKMs is the non uniformity of force and velocity transmission and stiffness characteristics in the workspace. This non uniformity can be dramatically reduced and in some cases, but the case of 6 dof PKMs, even eliminated using efficient kineto-static optimization criteria in the design phase. In this paper new performance indexes for the optimisation of 6 dof fully parallel PKMs, developed by the authors, are presented. These indexes overcome the fact that the Jacobian matrix J is not consistent in units and allow an independent study of the linear and the angular behaviour of a manipulator. The well known octahedron proposed by Duffy is analysed using the new indexes. The first Italian PKM for 5 axis milling operations Celerius developed by ITIA-CNR using an optimisation criteria based on the presented indexes is introduced. This machine exhibits an isotropic behaviour in the middle of its workspace and is almost isotropic in all the other points of the useful workspace. (literal)

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One of the main drawbacks of PKMs is the non uniformity of force and velocity transmission and stiffness characteristics in the workspace. This non uniformity can be dramatically reduced and in some cases, but the case of 6 dof PKMs, even eliminated using efficient kineto-static optimization criteria in the design phase. In this paper new performance indexes for the optimisation of 6 dof fully parallel PKMs, developed by the authors, are presented. These indexes overcome the fact that the Jacobian matrix J is not consistent in units and allow an independent study of the linear and the angular behaviour of the machine. The well known octahedron proposed by Duffy is analysed using the new indexes. The first Italian PKM for 5 axis milling operations - Celerius - developed by ITIA-CNR using an optimisation criteria based on the presented indexes is introduced. This machine exhibits an isotropic behaviour in the middle of its workspace and is almost isotropic in all the other points of the useful workspace. (literal)

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