Study and analysis of the 3-PRS parallel mechanism

Author

Chun, Chen ; Yumei, Huang ; Xuzhao, Han ; Xiang, Cheng

Author_Institution

Sch. of Mech. & Precision Instrum. Eng., Xi´´an Univ. of Technol., Xi´´an, China

fYear

2009

fDate

9-12 Aug. 2009

Firstpage

1515

Lastpage

1520

Abstract

Conceptual design schemes of turning-milling hybrid machine tool with 3-PRS parallel mechanism was given. The kinematics characteristics of the 3-PRS parallel mechanism were analyzed. The inverse position solution was derived. And the forward position solution was got by transforming solution object method. Velocity and acceleration solution were deduced using d´Alembert´s principle for passive joint position. It avoids complexity of solution for spatial mechanism using direct derivative method. Three additional motions produced at the movement of 3-PRS parallel driving platform were indispensable.

Keywords

milling; milling machines; motion control; robot kinematics; turning (machining); 3-PRS parallel mechanism; kinematics characteristics; motion control algorithm; passive joint position; spatial mechanism; turning-milling hybrid machine tool; Acceleration; Clamps; Cutting tools; Design engineering; Fixtures; Kinematics; Machine tools; Manufacturing processes; Milling; Space technology; 3-PRS parallel mechanism; forward and inverse kinematics; passive joint; transforming solution object method; turning-milling hybrid machine tool;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2009. ICMA 2009. International Conference on

Conference_Location

Changchun

Print_ISBN

978-1-4244-2692-8

Electronic_ISBN

978-1-4244-2693-5

Type

conf

DOI

10.1109/ICMA.2009.5245972

Filename

5245972