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Optimal Design of a 6-dof Parallel Measurement Mechanism Integrated in a 3-dof Parallel Machine-Tool

David Corbel 1 Olivier Company 1 François Pierrot 1
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper presents the design and the optimization of a parallel machine-tool composed of (i) an actuated parallel 3-dof mechanism (a linear Delta) and (ii) a measuring 6-dof mechanism (a Gough platform)). The interest to use a measuring device independent of the actuation device is shown and the modeling of both devices used for the optimization is explained. Then, the optimization is presented; it is performed to obtain the best resolution for the measuring system evaluated at the tool level.
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David Corbel, Olivier Company, François Pierrot. Optimal Design of a 6-dof Parallel Measurement Mechanism Integrated in a 3-dof Parallel Machine-Tool. IROS'08: International Conference on Intelligent RObots and Systems, Sep 2008, Nice, France. pp.1970-1976, ⟨10.1109/IROS.2008.4650930⟩. ⟨lirmm-00304811v2⟩

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