This paper presents a concept and implementation of a toolbox for design and application of tripod-based parallel kinematic machines (PKMs). The toolbox is a suite of design tools to support users from conceptual design to actual application of tripod-based PKMs. These design tools have been individually developed in different languages and development environments, and are integrated seamlessly using a JAVA-based platform. Users can access all the design tools through a friendly graphical user interface (GUI). It is the first computer-aided design system specially developed for tripod-based PKMs. The toolbox includes some innovative methodologies, such as a forward kinematics solver, the concept of joint workspace, on-line monitoring based on forward kinematics, and the concept of motion purity. The paper gives an overview on the toolbox architecture and some key technologies.
Issue Section:
Research Papers
Keywords:
computer-aided-design,
design automation,
parallel kinematic machine (PKM),
integrated design environment,
tripod,
robotics,
JAVA, JAVA 3D,
CAD,
Java,
graphical user interfaces,
end effectors,
manipulator kinematics,
mechanical engineering computing
Topics:
Design,
Kinematics,
Stiffness,
Machinery,
Computer-aided design,
End effectors,
Optimization
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