Kinematic and deformation analyses of a translational parallel robot for drilling tasks

다국어 초록 (Multilingual Abstract)

A 3DOF translational parallel robot for drilling tasks based on two 5-bar mechanisms with a large workspace is presented in this study.

The position analysis is performed by applying simple geometric procedures, and the velocity and acceleration analyses are developedusing the theory of screws. A numerical example is included in the contribution to validate the equations of the kinematic analysis, anddeformation analysis is performed to assess the accuracy considering the forces reported in the literature for drilling process. A prototypeis presented, and an experimental test is performed to validate accuracy using a circular test.

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