VERNE機械のパラレルモジュールの運動学解析
Kinematics analysis of the parallel module of the VERNE machine
直列・並列ハイブリッド5軸工作機械のパラレルモジュールである3自由度空間並列機構について、逆運動学と順運動学の方程式を導出した論文。
著者: Daniel Kanaan, Philippe Wenger, Damien Chablat
分類: cs.RO
原文アブストラクト
The paper derives the inverse and forward kinematic equations of a spatial three-degree-of-freedom parallel mechanism, which is the parallel module of a hybrid serial-parallel 5-axis machine tool. This parallel mechanism consists of a moving platform that is connected to a fixed base by three non-identical legs. Each leg is made up of one prismatic and two pair spherical joint, which are connected in a way that the combined effects of the three legs lead to an over-constrained mechanism with complex motion. This motion is defined as a simultaneous combination of rotation and translation.
