Kinematics analysis of the parallel module of the VERNE machine
Robotics
2007-05-23 v1
Abstract
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.
Keywords
Cite
@article{arxiv.0705.1410,
title = {Kinematics analysis of the parallel module of the VERNE machine},
author = {Daniel Kanaan and Philippe Wenger and Damien Chablat},
journal= {arXiv preprint arXiv:0705.1410},
year = {2007}
}