Title :
Study and analysis of the 3-PRS parallel mechanism
Author :
Chun, Chen ; Yumei, Huang ; Xuzhao, Han ; Xiang, Cheng
Author_Institution :
Sch. of Mech. & Precision Instrum. Eng., Xi´´an Univ. of Technol., Xi´´an, China
Abstract :
Conceptual design schemes of turning-milling hybrid machine tool with 3-PRS parallel mechanism was given. The kinematics characteristics of the 3-PRS parallel mechanism were analyzed. The inverse position solution was derived. And the forward position solution was got by transforming solution object method. Velocity and acceleration solution were deduced using d´Alembert´s principle for passive joint position. It avoids complexity of solution for spatial mechanism using direct derivative method. Three additional motions produced at the movement of 3-PRS parallel driving platform were indispensable.
Keywords :
milling; milling machines; motion control; robot kinematics; turning (machining); 3-PRS parallel mechanism; kinematics characteristics; motion control algorithm; passive joint position; spatial mechanism; turning-milling hybrid machine tool; Acceleration; Clamps; Cutting tools; Design engineering; Fixtures; Kinematics; Machine tools; Manufacturing processes; Milling; Space technology; 3-PRS parallel mechanism; forward and inverse kinematics; passive joint; transforming solution object method; turning-milling hybrid machine tool;
Conference_Titel :
Mechatronics and Automation, 2009. ICMA 2009. International Conference on
Conference_Location :
Changchun
Print_ISBN :
978-1-4244-2692-8
Electronic_ISBN :
978-1-4244-2693-5
DOI :
10.1109/ICMA.2009.5245972
