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Design and Prototyping of a Spherical Parallel Machine Based on 3-CPU Kinematics InTech
Massimo Callegari.
The article has described an innovative spherical parallel wrist developed at the Polytechnic University of Marche in Ancona, revisiting all the main design steps, from kinematic synthesis up to physical prototyping. Machine kinematics has been worked out in closed form and all the singularity surfaces have been analysed: it has been pointed out that the mechanism does not possess inverse kinematics singularities, while direct kinematics singularities and translation singularities lie on the same closed surface. The inner space, where motion paths can be safely planned, has been identified and unfortunately it cannot be enlarged by kinematics optimisation because machine's Jacobian does not depend on geometrical parameters. For this reason, it was decided...
Tipo: 9 Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/design_and_prototyping_of_a_spherical_parallel_machine_based_on_3-cpu_kinematics
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Sheet Incremental Forming: Advantages of Robotised Cells vs. CNC Machines InTech
Massimo Callegari; Dario Amodio; Elisabetta Ceretti; Claudio Giardini.
The incremental forming of metal sheet parts can be an interesting alternative to manual forging of prototypes and pre-series blanks or to the manufacturing of shells for resin dies used for the production of small batches. Such characteristics of small-volume production would call for an increase in the level of flexibility and automation, possibly leading to the use of CNC machines or robotised cells able to produce or complete the parts. In particular, the use of robotised cells, with automatic tool change, can dramatically reduce the process time since on the same fixture it is possible to deform the part, cut the part, bend or flange the borders, load/unload the part, etc. The present contribution has described the crossed experiments performed at the...
Tipo: 25 Palavras-chave: Industrial Robotics: Programming; Simulation and Applications.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/sheet_incremental_forming__advantages_of_robotised_cells_vs__cnc_machines
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