Title: Development of a milling parallel robot for educational purposes

Authors: Vitor N. Hartmann; Marco Stipkovic-Filho; Tarcisio A. Hess-Coelho; Sergio L.R. Almeida

Addresses: Department of Mechatronics and Mechanical Systems Engineering, Polytechnic School, University of Sao Paulo, Av. Prof. Mello Moraes, 2231 – CEP 05508-900, Sao Paulo, SP – Brazil ' Department of Mechatronics and Mechanical Systems Engineering, Polytechnic School, University of Sao Paulo, Av. Prof. Mello Moraes, 2231 – CEP 05508-900, Sao Paulo, SP – Brazil ' Department of Mechatronics and Mechanical Systems Engineering, Polytechnic School, University of Sao Paulo, Av. Prof. Mello Moraes, 2231 – CEP 05508-900, Sao Paulo, SP – Brazil ' Maua Institute of Technology, Pça. Maua 1, Sao Caetano do Sul, SP – Brazil

Abstract: Parallel mechanisms have been investigated during the last two decades, due to the fact that they present some advantages in a comparison with serial structures, namely, the ability to perform fast motions, modular construction, lightness and high load capacity. Regarding the utilisation of parallel mechanisms on milling applications, a great number of architectures have been proposed by industry and academia. From the academia viewpoint, we believe that mechanical engineering students should have the contact with these equipments in their course labs. A parallel robot could be part of an experimental test-bed to analyse its behaviour under milling operations. However, due to the fact that available commercial parallel robots for milling are expensive, not affordable to several academic institutions, we decided to design and build one. Basically, the machine had to satisfy the following requirements: only three axis for milling, modular construction and the utilisation of low-cost standard components. In this work, we present the development of a milling parallel robot for educational purposes. The paper sections deal with the conceptual design, the chosen structural synthesis procedure, the kinematic analysis, workspace, static error evaluation and the characteristics of the built prototypes.

Keywords: parallel robots; milling machines; didactic equipment; robot milling; robotics education; parallel mechanisms; manufacturing education; conceptual design; structural synthesis; kinematic analysis; robot workspace; static error evaluation; robot design.

DOI: 10.1504/IJMRS.2013.051291

International Journal of Mechanisms and Robotic Systems, 2013 Vol.1 No.1, pp.68 - 82

Received: 04 Apr 2012
Accepted: 09 Aug 2012

Published online: 31 Dec 2012 *

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