Paper Info
Title
Kinematics Analysis for a New-Style Machine Tool Based on 3-PRS Parallel Robot
Abstract
A five-degree-of-freedom hybrid parallel machine tool, composed of a 3-PRS parallel robot and an X-Y series table, is designed on geometry and analyzed on kinematics. The 3-PRS parallel robot consists of three serial chains and a fixed base and a moving platform which can be moved in a pose space corresponding to the three degrees of freedom. This kind of mechanism can be applied to measuring and machining through carrying test set or cutting tool on the moving platform. Both the forward and inverse kinematics models are established based on the kinematics analysis. By means of numerical analysis, a calculation example is performed to verify the correctness of the kinematics models.
Year
DOI
Venue
2008
10.1007/978-3-540-88518-4_37
ICIRA
Keywords
Field
DocType
parallel robot,kinematics analysis,inverse kinematics model,numerical analysis,fixed base,new-style machine tool,x-y series table,3-prs parallel robot,calculation example,serial chain,kinematics model,five-degree-of-freedom hybrid parallel machine,machine tool,degree of freedom,inverse kinematics
Parallel manipulator,Kinematics,Kinematics equations,Inverse kinematics,Simulation,Computer science,Robot kinematics,Control engineering,Machine tool,Cutting tool,Test set
Conference
Volume
ISSN
Citations 
5315
0302-9743
0
PageRank 
References 
Authors
0.34
0
2
Name
Order
Citations
PageRank
Zhigang Niu100.68
Ming Lv200.34