Parallel kinematics machines

1. Portman, V, Sandler, B.-Z. Tripod with cylindrically moved legs: structure and kinematics, Proceedings of the 28th Israel Conference on Mechanical Engineering, Beer Sheva, 14 - 15 June, 2000.
2. Portman, V.T., 2000, "Deterministic Metrology of the Platform Type Machine Tools,” Int. J. of Machine Tools & Manufacture, Vol. 40, pp. 1423-1442.
3. Portman, V.T., 2000, "Deterministic Metrology of Parallel Kinematic Machines,” Annals of the CIRP, Vol. 49/1, pp. 281-284.
4. Portman, V.T., Sandler, B.-Z., 2002, “Tripod Robot with Cylindrically-Actuated Limbs: Structure and Kinematics,” Mechanism and Machine Theory, 37/12, 1447-1463.

Tripod-Robot with cylindrically actuated limbs:
14-measuring pick-up; 15-measured surface of pattern 16; 17-elongation sensor; 18-angular sensor.

Model of a Tripod-Robot with conically actuated limbs.