Design and Analysis of a Parallel Kinematics Machine Tool with Improved Workspace

Parallel kinematics mechanisms (PKMs) represent a class of robotic systems comprising an end-effector and a fixed base interconnected by multiple independent kinematics chains. Compared to their serial kinematics mechanisms counterparts, PKMs offer inherent stiffness, agility, and pose accuracy advantages. Nonetheless, challenges such as singularities and limited workspace persist within PKM designs. This research project targets the enhancement of a machine tool utilizing linear motors, specifically a 3PRR planar PKM characterized by its restricted workspace and tilting capabilities. To overcome these limitations, the project introduces a modification in the topology and actuator placement, thereby augmenting the kinematics and dynamics performance of the system. The investigation primarily focuses on maximizing the machine's workspace and tilting range. Enhancing the overall capabilities of the parallel kinematics mechanism is the goal. The research methodology encompasses feasibility analyses, design optimization studies, workspace and orientation range assessments, stiffness analysis, and a finite element model presentation to evaluate the proposed enhancements comprehensively.