Design of parallel kinematic systems using the planar enveloping algorithm and ADAMS computer program

Abstract

The planar enveloping algorithm is combined with a parallel kinematic structure and a tool-optimization criterion to help in the design of a parallel kinematic machine (PKM). These three components, put together for the purpose of synthesis and design of a PKM, are defined as a parallel kinematic design system (PKDS). As a result, there are machining processes so that the PKM can be designed to use its actuators to position the tool, as well as to drive the cutting (grinding) motion of the tool, thus saving resources. This is in contrast to having a dedicated serial kinematic chain for the tool axis. The design process has successfully employed the virtual prototyping computer program ADAMS (Automatic Dynamic Analysis of Mechanical Systems) for defining the generalized coordinates and the loads in the parallel kinematic structure used to envelope convex surfaces.