Title :
Kinematic and dynamic models of a tripod system with a passive leg
Author :
Bi, Z.M. ; Lang, Sherman Y T
Author_Institution :
Integrated Manuf. Technol. Inst., Nat. Res. Council Canada, London, Ont., Canada
Abstract :
In this paper, a new tripod system is proposed for the light-metal machining application, and its kinematic and dynamic models are studied. The new tripod system is a type of parallel kinematic machine with three degrees of freedom, and it uses a passive leg to increase system stiffness and eliminate the undesired end-effector motion along some axes. Both the direct and inverse kinematic problems are solved, and the dynamic problem is modeled by applying the Newton-Euler approach. A case study is provided to validate the kinematic and dynamic models and illustrate this new tripod design.
Keywords :
end effectors; legged locomotion; machining; manipulator dynamics; manipulator kinematics; Newton-Euler approach; direct kinematic problem; dynamic model; end-effector motion; inverse kinematic problem; kinematic model; light-metal machining; parallel kinematic machine; passive leg; tripod system; Aircraft; Bismuth; Councils; Cutting tools; Design methodology; Kinematics; Leg; Machining; Parallel robots; Telescopes; Kinematics and dynamics; modeling; parallel kinematic machine (PKM); tripod;
Journal_Title :
Mechatronics, IEEE/ASME Transactions on
DOI :
10.1109/TMECH.2005.863362
