Redundant Parallel Robots

Significant Increase of Workspace 5 Sided Machining Significant Increase of Dynamics, Stiffness, Accuracy Theoretical On-line Calibration

Development Trends in Machine Tool Design

User High Accuracy High Productivity Small Space Price Manufacturer High Stiffness High Dynamics Large Workspace Production Costs

Conceptual Design Problems of Machine Tools

The Frame Loaded by Bending Large Moving Masses Backlash in Serial Kinematic Chain of Drives Ratio of Workspace and Machinespace

Parallel Kinematics - a Solution?

Just Tension and Stress

Truss Construction

Higher Stiffness Accuracy

Smaller Moving Masses Drives Just on the Frame Dynamics

Size of Drives Unbounded

Hexapods

Ingersoll VOH 1000, HOH 600

But Parallel Kinematics:

Workspace Smaller

Singular Positions Mutual Collisions of Links

Parallel Concepts
Main Advantages
Size of drives is not limited by ratio of moving masses and structure stiffness. Truss construction leads towards generally higher stiffness than it is achieved by serial kinematics.

Main Problems
Workspace is generally smaller. Within workspace there occur undesirable singular positions. Mutual collisions of links occur ofter than by serial kinematics.

Redundant parallel kinematics = Redundant Actuation

Redundant = driven by redundant drives

i legs lead to the singularity

Another combination of

i drives is used

However realized CONTINUOUSLY !

Many Further Variants

Realization in Plane

Singularities Removed

Model of planar redundant parallel robot

Realization in Space OCTAPOD

8 7

5
5 4

7 6 3

B
2

Singularities Removed

Model of spatial redundant parallel robot

Robot 2

Robot 3

Robot 4

Five Sided Maschining

Within workspace of Octapod a cube with side of 25 % of frame side can be 5 sided machined

Further Advantages of Redundant Structures

Higher and more uniform stiffness Higher and more uniform dynamic capabilities Possible complete removal of backlash Higher kinematic accuracy Possible on-line calibration

Stiffness

Dynamics

Dynamics

Kinematic Accuracy