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Kinematic Analysis for a Virtual Axis Machine Tools Based on 6-PTS Parallel Mechanism(PDF)

《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

Issue:
2000年02期
Page:
131-134
Research Field:
Publishing date:

Info

Title:
Kinematic Analysis for a Virtual Axis Machine Tools Based on 6-PTS Parallel Mechanism
Author(s):
ChenAnming QianXuejun ①
School of Manufacturing Engineering,① Attaching School,NUST,Nanjing 210094
Keywords:
mechanism kinemat ics Jacobi mat rices parallel mechanism stew art plat form v irtual ax is machine tools
PACS:
TH113
DOI:
-
Abstract:
Aiming at such disadvantages as dif ficulty of variable-length link st ructure design in virfual ax is machine tools based on Stewart platform, and effect of thermal deformat ion on accuracy , a kind of 6- PTS mechanism based mot ion-pair ( P) , cross-jo int( T) , spherica-l joint ( S) and f ix ed-length link is presented. The DOF ( degree of freedom) of 6- PTS is calculated and the mathemat ic model for solving the inverse kinematics of 6- PTS parallel mechanism is established. Using derivat ion, kinemat ics inf luence coeff icient matrix of 6 - PTS ) the posit ive and reverse Jacobian mat rix is derived, thus revealing the relat ionship between mot ion-pair speed and moving plat form pose speed, w hich w ill be helpful for further research.

References:

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3 Hebsacker M. 用六条腿机床实现高效铣销. 制造技术与机床, 1998( 10) : 20~ 22
4 黄真, 孔宪文. 6- SPS 并联机器人机构运动学分析. 东北重型机械学院学报, 1992, 16( 4) :283~ 287
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Memo:
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Last Update: 2013-03-25