Abstract

A design method based on velocity amplification factors analysis is presented in this paper, through the design of two simple two-degree-offreedom Parallel Kinematic Mechanisms (PKM) dedicated to machining applications. The largest square useful Cartesian workspace is achieved for given kinetostatic performances. Its orientation and position are chosen to avoid singularities and to produce the best ratio between Cartesian workspace size and mechanism size. The size of each designed mechanism is used as a comparative criterion.

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