Technical Brief

Comparative Analysis of a Redundant Pentapod Parallel Kinematic Machine

[+] Author and Article Information
Arta Alagheband

Department of Mechanical and Industrial Engineering,
University of Toronto,
5 King's College Road,
Toronto, ON M5S 3G8, Canada
e-mail: arta@mie.utoronto.ca

Masih Mahmoodi

Department of Mechanical and Industrial Engineering,
University of Toronto,
5 King's College Road,
Toronto, Ontario M5S 3G8, Canada
e-mail: masih.mahmoodi@utoronto.ca

James K. Mills

Department of Mechanical and Industrial Engineering,
University of Toronto,
5 King's College Road,
Toronto, ON M5S 3G8, Canada
e-mail: mills@mie.utoronto.ca

Beno Benhabib

Department of Mechanical and Industrial Engineering,
University of Toronto,
5 King's College Road,
Toronto, ON M5S 3G8, Canada
e-mail: benhabib@mie.utoronto.ca

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received May 16, 2014; final manuscript received October 23, 2014; published online December 4, 2014. Assoc. Editor: Philippe Wenger.

J. Mechanisms Robotics 7(3), 034502 (Aug 01, 2015) (7 pages) Paper No: JMR-14-1112; doi: 10.1115/1.4028933 History: Received May 16, 2014; Revised October 23, 2014; Online December 04, 2014

Parallel kinematic mechanisms (PKMs) provide high stiffness and compact structures that are suitable for a large number of applications, including 5-axis milling. This paper presents a new pentapod-based PKM with an additional redundant degree-of-freedom (DOF) capable of reaching platform tilt angles of at least 90 deg over a large workspace. The proposed new PKM has a 6DOF 4 × SPRR + 1 × PSPR architecture. It is compared herein to Metrom® Pentapod as well as to several other pertinent PKMs in terms of workspace and dynamic stiffness. It is shown that the proposed mechanism can yield a tangibly larger workspace volume, when compared to those PKMs, while maintaining its high stiffness characteristics.

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Fig. 2

(a) The UofT pentapod and (b) its kinematic schematic

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Fig. 1

Metrom Pentapod model

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Fig. 6

Maximum platform tilt angle for the 6DOF mechanisms used for comparison

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Fig. 3

Tilt angle definition

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Fig. 4

Tilt angle versus actuator travel range

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Fig. 5

90 deg tilt angle over 8 mm radius hemispherical surface for the UofT pentapod (a) without and (b) with a sixth actuator

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Fig. 7

Projection of hemispherical surface onto the xy plane for (a) the Metrom Pentapod and (b) the UofT pentapod

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Fig. 8

FE analysis for deformation in xx direction




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