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Yang Jianxin
School of Mechanical Engineering
and Applied Elettronics,
Beijing University of Tehnolegy,
Beijing 100022, China
Yu Dingwen
Wang Jinsong
Department of Precision Instruments,
Tsinghua University,
Beijing 100084, China |
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INVERSE
KINEMATICS AND
DYNAMICS OF A NOVEL 3-AXIS
HYBRID MACHINE TOOLS*
Abstract: The formulation of the inverse kinematics and dynamics of a novel 3-axis hybrid machine tools is presented. 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 model parameters are developed. The presented approach can also be applied to other less DOF parallel manipulators.
Key words:
Hybrid machine tools Inverse dynamics |