Title :
The Kinematics Analysis of a 3-TPS Parallel Machine Tool Based on the Constraint Chain
Author :
Guo, Jianye ; Zhang, Yanli ; Zhao, Liang
Author_Institution :
Sch. of Mech. & Electr. Eng., Shenyang Aerosp. Univ., Shenyang, China
Abstract :
This paper takes a kind of 3-TPS Parallel Machine Tool (PMT) as the objective of research. The positive and inverse kinematics equations of constraint chain are established through the kinematics analysis to the constraint chain of this machine, the inverse kinematics equation that has unique solution is also further obtained after the joint angle ranges in the machine were determined. Then the expressions about Jacobian matrix and its inverse matrix of constraint chain are also solved in this paper. The analysis results of this paper have laid a theoretical foundation for dynamics analysis, precision analysis, control system design and prototype manufacturing of this Parallel Machine Tool.
Keywords :
Jacobian matrices; control systems; dynamics; kinematics; machine tools; precision engineering; prototypes; 3-TPS parallel machine tool; Jacobian matrix; constraint chain; control system design; dynamics analysis; inverse kinematics equations; inverse matrix; kinematics analysis; positive kinematics equations; precision analysis; prototype manufacturing; Equations; Jacobian matrices; Joints; Kinematics; Magnetic heads; Milling; Parallel machines;
Conference_Titel :
E-Product E-Service and E-Entertainment (ICEEE), 2010 International Conference on
Conference_Location :
Henan
Print_ISBN :
978-1-4244-7159-1
DOI :
10.1109/ICEEE.2010.5661121
