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Xie Shunqiang
Department of Mathematics & Physics, Hebei Vocational &
Technical
Teachers College,
Qinhuangdao 066004, China
Wang Jinsong
Wang Liping
Department of Precision Instruments, Tsinghua University,
Beijing 100084, China
Long Yunjia
College of Basic Sciences
and Technology,
China Agricultural University,
Beijing 100083, China
Zhang Lanxia
Department of Mathematics & Physics, Hebei Vocational &
Technical
Teachers College,
Qinhuangdao 066004, China
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INVERSE DYNAMIC FORMULATION
OF A NOVEL
HYBRID MACHINE TOOL*
Abstract: In recent years, hybrid devices have increasingly received more research. However, few of researchers studied the dynamic analysis. The inverse dynamic analysis of a novel hybrid machine tool designed in Tsinghua University is presented. The hybrid machine tool under consideration consists of parallel and serial structures, which is based on a new 2-DOF parallel platform and serial orientations. The kinematics and the dynamic equations are studied first for the parallel structure through Newton-Euler approach. And then, the dynamic analysis for serial structures is conducted. Finally, a closed-form inverse dynamic formulation is derived by using some elimination techniques. Some simulation results are also given.
Key words:
Dynamics
Parallel manipulator Hybrid machine tool |