A New 4-DOF Fully-Parallel Robot with Decoupled Rotation for 5-Axis Micromachining Applications

[+] Author and Article Information
Oleksandr Stepanenko

1100, rue Notre-Dame ouest Montreal, QC H3C 1K3 Canada oleksandr.stepanenko.1@ens.etsmtl.ca

Ilian Bonev

1100, rue Notre-Dame Ouest Montreal, QC H3C 1K3 Canada ilian.bonev@etsmtl.ca

Dimiter Zlatanov

Via Balbi 5 Genova, 16126 Italy zltnv@hotmail.com

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the Journal of Mechanisms and Robotics. Manuscript received August 29, 2018; final manuscript received January 31, 2019; published online xx xx, xxxx. Assoc. Editor: Shaoping Bai.

ASME doi:10.1115/1.4042849 History: Received August 29, 2018; Accepted February 07, 2019


We present a novel 4-DOF parallel robot designed for 5-axis micromachining applications. Two of its five telescoping legs operate simultaneously, thus acting as an extensible parallelogram linkage and, in conjunction with two other legs control the position of the tooltip. The fifth leg controls the tilt of the end-effector (a spindle), while a turntable fixed at the base of the robot controls the swivel of the workpiece. The robot is capable of tilting its end-effector up to 90°, for any tooltip position. In this paper, we study the mobility of the new parallel kinematic machine (PKM), describe its inverse and direct kinematic models, then study its singularities, and analyze its workspace. Finally, we propose a potential mechanical design for this PKM utilizing telescopic actuators as well as the procedure for optimizing it. In addition, we discuss the possibility of using constant-length legs and base-mounted linear actuators in order to increase the volume of the workspace.

Copyright © 2019 by ASME
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