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The Gantry-Tau is a recently developed parallel kinematic manipulator (PKM). Since the actuators are stationary it possesses the following characteristics: high speed, high acceleration , small moving mass and high static and dynamic accuracy. Since all link forces in the structure are axial, high stiffness can also be achieved. One of the main advantages(More)
One of the main advantages of the Gantry-Tau machine is a large accessible workspace/footprint ratio compared to many other parallel machines. The Gantry-Tau improves this ration further by allowing a change of assembly mode without internal link collisions or collisions between the links and end-effector. The reconfigurable Gantry-Tau kinematic design(More)
One significant limitation of parallel kinematic machines in the past has been the limited workspace to installation space ratio. The Gantry-Tau is an example of a relatively new PKM which improves this ratio by allowing a change of assembly mode without internal link collisions or collisions between the links and the moving TCP platform. The avoidance of(More)
One of the main advantages of the Gantry-Tau machine is a large accessible workspace/footprint ratio compared to many other parallel machines. The design presented in this paper achieves a workspace/footprint ratio of more than 2.7 with fixed length links, which is high for a PKM. Typical PKMs, for example the Delta robot, has a ratio less than one.(More)
One of the main advantages of the Gantry-Tau machine is a large accessible workspace/footprint ratio compared to many other parallel machines. The Gantry-Tau improves this ratio by allowing a change of assembly mode without internal link collisions or collisions between the links and the moving T CP platform. However, the optimal kinematic, elastostatic and(More)
In this paper two different process models which can predict the mean value components of the tool forces when milling aluminium, bronze and steel with an industrial robot have been estimated. The parameters in the process models were depth and width of cut, while feedrate and cutting speed were found from the tool manufacturer's datasheets. The models were(More)
In this paper the developed method for off-line compensation of tool deflections when milling aluminum with an industrial robot is presented. The efficiency of this approach is verified with high precision measurements of deflections using a laser tracker. The compensation method includes both the static milling process model which can predict the mean(More)
One of the main advantages of the Gantry-Tau machine is a large accessible workspace/footprint ratio compared to many other parallel machines. The Gantry-Tau improves this ratio by allowing a change of assembly mode without internal link collisions or collisions between the links and the moving TCP platform. This paper introduces the geometric approach for(More)