Ebook: Parallel Kinematic Machines: Theoretical Aspects and Industrial Requirements

Parallel Kinematic Machines (PKMs) are one of the most radical innovations in production equipment. They attempt to combine the dexterity of robots with the accuracy of machine tools to respond to several industrial needs. This book contains the proceedings of the first European-American Forum on Parallel Kinematic Machines, held in Milan, Italy from 31 August - 1 September 1998. The Forum was established to provide institutions, technology suppliers and industrial end users with an improved understanding of the real advantages to be gained from using PKMs. This book contributes to a mid-term strategy oriented to reduce time to market and costs, improve production flexibility and minimize environmental impacts to increase worldwide competitiveness. In particular the authors focus on enabling technologies and emerging concepts for future manufacturing applications of PKMs. Topics include: Current status of PKM R&D in Europe, the USA and Asia. Industrial requirements, roadblocks and application opportunities. Research issues and possibilities. Industrial applications and requirements.

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Parallel Kinematic Machines (PKMs) are one of the most radical innovations in production equipment. They attempt to combine the dexterity of robots with the accuracy of machine tools to respond to several industrial needs. This book contains the proceedings of the first European-American Forum on Parallel Kinematic Machines, held in Milan, Italy from 31 August - 1 September 1998. The Forum was established to provide institutions, technology suppliers and industrial end users with an improved understanding of the real advantages to be gained from using PKMs. This book contributes to a mid-term strategy oriented to reduce time to market and costs, improve production flexibility and minimize environmental impacts to increase worldwide competitiveness. In particular the authors focus on enabling technologies and emerging concepts for future manufacturing applications of PKMs. Topics include: Current status of PKM R&D in Europe, the USA and Asia. Industrial requirements, roadblocks and application opportunities. Research issues and possibilities. Industrial applications and requirements.

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Parallel Kinematic Machines (PKMs) are one of the most radical innovations in production equipment. They attempt to combine the dexterity of robots with the accuracy of machine tools to respond to several industrial needs. This book contains the proceedings of the first European-American Forum on Parallel Kinematic Machines, held in Milan, Italy from 31 August - 1 September 1998. The Forum was established to provide institutions, technology suppliers and industrial end users with an improved understanding of the real advantages to be gained from using PKMs. This book contributes to a mid-term strategy oriented to reduce time to market and costs, improve production flexibility and minimize environmental impacts to increase worldwide competitiveness. In particular the authors focus on enabling technologies and emerging concepts for future manufacturing applications of PKMs. Topics include: Current status of PKM R&D in Europe, the USA and Asia. Industrial requirements, roadblocks and application opportunities. Research issues and possibilities. Industrial applications and requirements.
Content:
Front Matter....Pages i-xiii
Front Matter....Pages 1-1
Research and Development in the Field of Parallel Kinematic Systems in Europe....Pages 3-15
Parallel Kinematic Machine Research at NIST: Past, Present, and Future....Pages 17-31
Systematic Enumeration of Parallel Manipulators....Pages 33-49
Classification and Kinematic Modelling of Fully-Parallel Manipulators — A Review....Pages 51-67
Kinematic Analysis of Parallel Manipulators....Pages 69-84
Closed Form Solution to the Orientation Workspace of Stewart Parallel Manipulators....Pages 85-97
The importance of optimal design for parallel structures....Pages 99-110
Design, Reconfiguration, and Control of Parallel Kinematic Machines....Pages 111-129
Precision Requirements of Hexapod-Machines and Investigation Results....Pages 131-150
On the Geometric and Thermal Errors of a Hexapod Machine Tool....Pages 151-169
Error Modeling and Compensation for Parallel Kinematic Machines....Pages 171-187
Pose Measurement of Parallel Kinematic Machines with Serial Link Measuring System....Pages 189-203
Calibration and Self-Calibration of Hexapod Machine Tools....Pages 205-216
Dynamics and Controls of Hexapod Machine Tools....Pages 217-225
Evaluation of Control Algorithms for High-Speed Motion Control of Machine-Tool Structures Based on Stewart Platforms....Pages 227-243
Parallel Link Machine Tools: Simulation, Workspace Analysis and Component Positioning....Pages 245-256
On the Use and Augmentation of Hexapod Machine Tools....Pages 257-268
Front Matter....Pages 269-269
Will PKM be Adopted by Industry?....Pages 271-273
Parallel Kinematic Mechanisms: New Design Parameters for Manufacturing System Design....Pages 275-282
Parallel Kinematics:the Importance of Enabling Technologies....Pages 283-294
Front Matter....Pages 269-269
A Systematic Comparison of Parallel Kinematics....Pages 295-312
Experiences with Hexapod-Based Machine Tool....Pages 313-326
Parallel Link Mechanism Machine Tools: Acceptance Testing and Performance Analysis....Pages 327-344
Hexaglide 6 DOF and Triaglide 3 DOF Parallel Manipulators....Pages 345-355
From Hexa to HexaM....Pages 357-364
Structure and Characteristics of the Hybrid Manipulator Georg V....Pages 365-376
LINAPOD — Machine Tools as Parallel Link Systems Based on a Modular Design....Pages 377-394
The Delta Robot within the Industry....Pages 395-399
The Delta Parallel Robot....Pages 401-417
The Tetrahedral Tripod....Pages 419-430
Survey of R&D Activities Related to Parallel Mechanisms in Japan....Pages 431-440
Eclipse: an Overactuated Parallel Mechanism for Rapid Machining....Pages 441-455

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Parallel Kinematic Machines (PKMs) are one of the most radical innovations in production equipment. They attempt to combine the dexterity of robots with the accuracy of machine tools to respond to several industrial needs. This book contains the proceedings of the first European-American Forum on Parallel Kinematic Machines, held in Milan, Italy from 31 August - 1 September 1998. The Forum was established to provide institutions, technology suppliers and industrial end users with an improved understanding of the real advantages to be gained from using PKMs. This book contributes to a mid-term strategy oriented to reduce time to market and costs, improve production flexibility and minimize environmental impacts to increase worldwide competitiveness. In particular the authors focus on enabling technologies and emerging concepts for future manufacturing applications of PKMs. Topics include: Current status of PKM R&D in Europe, the USA and Asia. Industrial requirements, roadblocks and application opportunities. Research issues and possibilities. Industrial applications and requirements.
Content:
Front Matter....Pages i-xiii
Front Matter....Pages 1-1
Research and Development in the Field of Parallel Kinematic Systems in Europe....Pages 3-15
Parallel Kinematic Machine Research at NIST: Past, Present, and Future....Pages 17-31
Systematic Enumeration of Parallel Manipulators....Pages 33-49
Classification and Kinematic Modelling of Fully-Parallel Manipulators — A Review....Pages 51-67
Kinematic Analysis of Parallel Manipulators....Pages 69-84
Closed Form Solution to the Orientation Workspace of Stewart Parallel Manipulators....Pages 85-97
The importance of optimal design for parallel structures....Pages 99-110
Design, Reconfiguration, and Control of Parallel Kinematic Machines....Pages 111-129
Precision Requirements of Hexapod-Machines and Investigation Results....Pages 131-150
On the Geometric and Thermal Errors of a Hexapod Machine Tool....Pages 151-169
Error Modeling and Compensation for Parallel Kinematic Machines....Pages 171-187
Pose Measurement of Parallel Kinematic Machines with Serial Link Measuring System....Pages 189-203
Calibration and Self-Calibration of Hexapod Machine Tools....Pages 205-216
Dynamics and Controls of Hexapod Machine Tools....Pages 217-225
Evaluation of Control Algorithms for High-Speed Motion Control of Machine-Tool Structures Based on Stewart Platforms....Pages 227-243
Parallel Link Machine Tools: Simulation, Workspace Analysis and Component Positioning....Pages 245-256
On the Use and Augmentation of Hexapod Machine Tools....Pages 257-268
Front Matter....Pages 269-269
Will PKM be Adopted by Industry?....Pages 271-273
Parallel Kinematic Mechanisms: New Design Parameters for Manufacturing System Design....Pages 275-282
Parallel Kinematics:the Importance of Enabling Technologies....Pages 283-294
Front Matter....Pages 269-269
A Systematic Comparison of Parallel Kinematics....Pages 295-312
Experiences with Hexapod-Based Machine Tool....Pages 313-326
Parallel Link Mechanism Machine Tools: Acceptance Testing and Performance Analysis....Pages 327-344
Hexaglide 6 DOF and Triaglide 3 DOF Parallel Manipulators....Pages 345-355
From Hexa to HexaM....Pages 357-364
Structure and Characteristics of the Hybrid Manipulator Georg V....Pages 365-376
LINAPOD — Machine Tools as Parallel Link Systems Based on a Modular Design....Pages 377-394
The Delta Robot within the Industry....Pages 395-399
The Delta Parallel Robot....Pages 401-417
The Tetrahedral Tripod....Pages 419-430
Survey of R&D Activities Related to Parallel Mechanisms in Japan....Pages 431-440
Eclipse: an Overactuated Parallel Mechanism for Rapid Machining....Pages 441-455
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