直並列工作機械VERNEの運動学解析
Kinematic Analysis of a Serial - Parallel Machine Tool: the VERNE machine
3自由度並列モジュールと2自由度直列傾斜テーブルからなる5軸工作機械VERNEの逆・順運動学方程式を導出し、脚配置の解析的制約を加えて全運動学解から許容解を特定する記号的手法を提案した。
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 the forward kinematic equations of a serial - parallel 5-axis machine tool: the VERNE machine. This machine is composed of a three-degree-of-freedom (DOF) parallel module and a two-DOF serial tilting table. The parallel module consists of a moving platform that is connected to a fixed base by three non-identical legs. These legs 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. In this paper we propose symbolical methods that able to calculate all kinematic solutions and identify the acceptable one by adding analytical constraint on the disposition of legs of the parallel module.
