Inverse dynamics analysis and application of a 4-DOF hybrid machine tool

This paper presents the dynamics of a four degrees of freedom (DOF) hybrid machine tool based on a novel planar 3-DOFs parallel manipulator and a long movement of the worktable. Closed-form solution is developed for the inverse kinematics about the parallel manipulator. The dynamics model of the parallel manipulator is built, which includes the extensible strut, sliders and balances model. The Newton-Euler approach is adopted to derive the inverse dynamic equations of the manipulator. According to the dynamics analysis results, the driving motors that can satisfy the requirements of velocity and accelerate velocity are selected. The analysis results can be of help in the design, trajectory planning, control and application of such devices.