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

fYear

2010

fDate

7-9 Nov. 2010

Firstpage

1

Lastpage

4

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;

fLanguage

English

Publisher

ieee

Conference_Titel

E-Product E-Service and E-Entertainment (ICEEE), 2010 International Conference on

Conference_Location

Henan

Print_ISBN

978-1-4244-7159-1

Type

conf

DOI

10.1109/ICEEE.2010.5661121

Filename

5661121