Inverse kinematics and dynamics of a novel 3-axis hybrid machine tools

被引：0

作者：

Yang, JX ^{[1
]}

Yu, DW ^{[1
]}

Wang, JS ^{[1
]}

机构：

[1] Tsinghua Univ, Dept Precis Instruments, Mfg Engn Inst, Beijing 100084, Peoples R China

来源：

ELEVENTH WORLD CONGRESS IN MECHANISM AND MACHINE SCIENCE, VOLS 1-5, PROCEEDINGS | 2004年

关键词：

hybrid machine tools; inverse dynamics;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents the formulation of the inverse kinematics and dynamics of a novel 3-axis hybrid machine tools. This machine tools is based on a 2-DOF parallel platform and serial kinematic chain. The position analysis is firstly performed. The velocity and acceleration formulas of the links and sliders are derived. The forces acting on the joints can be determined according to the force and moment equilibriums of the links. Subsequently the driving forces of the actuators are derived from the force equilibrium of the sliders. The sensitivities model construction of inverse kinematics and dynamics to the errors of motion models' parameters are developed. The presented approach can also be applied to other less DOF parallel manipulators.

引用

页码：1699 / 1703

页数：5

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