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Conference Papers Year : 2007

Analysis of a High Resolution Planar PKM


This paper presents a kinetostatic analysis of a planar parallel mechanism intended to be used in high accuracy operation. The machine architecture is peculiar in at least two aspects: it is designed to operate in a near-singularity configuration and is build with flexible joints. Kinematic and kinetostatic modeling allow to evaluate the theoretical improvement of the resolution, as well as forces created by both inertial effects and elastic deformation of joints. The final design of the micro-stage is presented as well as the obtained prototype.


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Dates and versions

lirmm-00124013 , version 1 (12-01-2007)


  • HAL Id : lirmm-00124013 , version 1


Olivier Company, Sébastien Krut, François Pierrot. Analysis of a High Resolution Planar PKM. IFToMM World Congress in Mechanism and Machine Science, Jun 2007, Besançon, France. ⟨lirmm-00124013⟩
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