Analysis and design of a translational 3 dof PKM for light deburring operations

This paper presents the conceptual design of a 3 d.o.f. parallel kinematic machine (here and after PKM), to be applied in the shoe manufacturing industry, starting from selection of the most suitable architecture to kineto-static optimization, actuator sizing (considering the effects of gravity and inertial forces), internal loads evaluation, including also the effect of manufacturing and assembly errors. Finally, the complete deburring cell is shown.