Journal
MECHANISM AND MACHINE THEORY
Volume 44, Issue 2, Pages 487-498Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.mechmachtheory.2008.03.002
Keywords
Parallel kinematic machines; Machine tool; Complex motion; Inverse kinematics; Forward kinematics
Categories
Ask authors/readers for more resources
The paper derives the inverse and the forward kinematic equations of a serial-parallel 5-axis machine tool: the VERNE machine. This machine is composed of a three-degree-of-freedom (DOF) parallel module and a two-DOF serial tilting table. The parallel module consists of a moving platform that is connected to a fixed base by three non-identical legs. These legs are connected in a way that the combined effects of the three legs leadver-constrained mechanism with complex motion. This motion is defined as a simultaneous combination of rotation and translation. In this paper we propose symbolical methods that able to calculate all kinematic solutions and identify the acceptable one by adding analytical constraint on the disposition of legs of the parallel module. (c) 2008 Elsevier Ltd. All rights reserved.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available