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1、ANOVELMETHODFORTHEDESIGNOF2-DOFPARALLELMECHANISMSFORMACHININGAPPLICATIONSFélixMajouInstitutdeRecherchesenCommunicationsetCybernétiquedeNantes1,1ruedelaNoë,44321Nantes,FRANCEFelix.Majou@irccyn.ec-nantes.frPhilippeWengerInstitutdeRecherchesenCommunicationsetCybernétiquedeNantes,1rue
2、delaNoë,44321Nantes,FrancePhilippe.Wenger@irccyn.ec-nantes.frDamienChablatInstitutdeRecherchesenCommunicationsetCybernétiquedeNantes,1ruedelaNoë,44321Nantes,FRANCEDamien.Chablat@irccyn.ec-nantes.frAbstractParallelKinematicMechanisms(PKM)areinterestingalternativedesignsformachineto
3、ols.Adesignmethodbasedonvelocityamplificationfactorsanalysisispresentedinthispaper.Thecomparativestudyoftwosimpletwo-degree-of-freedomPKMdedicatedtomachiningapplicationsisledthroughthismethod:thecommondesiredpropertiesarethelargestsquareCartesianworkspaceforgivenkinetostaticperfor
4、mances.TheorientationandpositionoftheCartesianworkspacearechosentoavoidsingularitiesandtoproducethebestratiobetweenCartesianworkspacesizeandmechanismsize.Themachinesizeofeachresultingdesignisusedasacomparativecriterion.Keywords:ParallelKinematicMachineTool,VelocityAmplificationFac
5、tors,OptimalWorkspaceDesign.1.IntroductionMostindustrialMachineTools(MT)haveaserialkinematicarchitecture:eachaxissupportsthefollowingone,includingitsactuators1IRCCyN:UMRn°6597CNRS,EcoleCentraledeNantes,UniversitédeNantes,EcoledesMinesdeNantes1andjoints.HighSpeedMachining(HSM)highl
6、ightssomedrawbacksofsucharchitectures:heavymovingpartsrequirehighstiffnessfromthemachinestructuretolimitbendingproblemsthatlowerthemachineaccuracyandlimitthedynamicperformancesofthefeedaxes.ParallelKinematicMachines(PKM)attractmoreandmoreresearchersandcompanies,becausetheyareclaim
7、edtoofferseveraladvantagesovertheirserialcounterparts,likehighstructuralrigidityandhighdynamiccapacities.Indeed,theparallelkinematicarrangementofthelinksprovideshigherstiffnessandlowermovingmassesthatreduceinertiaeffects.Thus,PKMhavebetterdynamicperformances,whichisinterestingforH
8、SM.However,mostexistingPKMhaveaco
