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

Volume

11

Issue

1

fYear

2006

Firstpage

108

Lastpage

111

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;

fLanguage

English

Journal_Title

Mechatronics, IEEE/ASME Transactions on

Publisher

ieee

ISSN

1083-4435

Type

jour

DOI

10.1109/TMECH.2005.863362

Filename

1597182