Abstract
This article describes the design, position kinematics analysis and construction of a translational parallel robot for drilling tasks based on two 5-bar mechanisms. The final design provides a large workspace and a simplified geometrical analysis compared with Delta translational parallel robot. Forward and inverse geometric models are also presented. Deformation analysis using ANSYS was performed to obtain a detailed mechanical design considering forces acting during a classical drilling process. The robot was built and validated for vertical drilling tasks on soft materials.
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The authors thank to SIP-IPN for its financial support.
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Maldonado-Echegoyen, R., Castillo-Castaneda, E. (2015). Design and Construction of a Translational Parallel Robot for Drilling Tasks. In: Ceccarelli, M., Hernández Martinez, E. (eds) Multibody Mechatronic Systems. Mechanisms and Machine Science, vol 25. Springer, Cham. https://doi.org/10.1007/978-3-319-09858-6_48
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DOI: https://doi.org/10.1007/978-3-319-09858-6_48
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