A 3-degree-of-freedom （3-DOF） parallel machine tool based on a tripod mechanism is developed and studied. The kinematics analysis is performed, the workspace is derived, and an analysis on the number of conditions o...A 3-degree-of-freedom （3-DOF） parallel machine tool based on a tripod mechanism is developed and studied. The kinematics analysis is performed, the workspace is derived, and an analysis on the number of conditions of the Jacobian matrix and manipulability is carried out. A method for error analysis and manipulability is introduced. Hence, the manipulability analysis of the parallel machine tool is accomplished.展开更多
This paper presents dimensional synthesis design theory for a novel planar 3-DOF (degrees of freedom) parallel machine tool. Closed-form solutions are developed for both the inverse and direct kinematics. The formula...This paper presents dimensional synthesis design theory for a novel planar 3-DOF (degrees of freedom) parallel machine tool. Closed-form solutions are developed for both the inverse and direct kinematics. The formulation of the dexterity and the definitions of the theoretical workspace and the valid workspace are used to analyze the effects of the design parameters on the dexterity and workspace. The analysis results are used to propose an approach to satisfy the platform motion requirement while realizing orientation capability, dexterity and valid workspace. A design example is given to illustrate the effectiveness of this approach.展开更多
A calibration method is presented to enhance the static accuracy of a parallel kinematic machine tool by using a coordinate measuring machine and a laser tracker. According to the established calibration model and the...A calibration method is presented to enhance the static accuracy of a parallel kinematic machine tool by using a coordinate measuring machine and a laser tracker. According to the established calibration model and the calibration experiment, the factual 42 kinematic parameters of BKX-I parallel kinematic machine toot are obtained. By circular tests the comparison is made between the calibrated and the uncalihrated parameters and shows that there is 80 % improvement in accuracy of this machine tool.展开更多
基金supported by University Key Laboratory Foundation of Liaoning Province of China (No. 2008S094)
文摘A 3-degree-of-freedom （3-DOF） parallel machine tool based on a tripod mechanism is developed and studied. The kinematics analysis is performed, the workspace is derived, and an analysis on the number of conditions of the Jacobian matrix and manipulability is carried out. A method for error analysis and manipulability is introduced. Hence, the manipulability analysis of the parallel machine tool is accomplished.
基金Supported by the National High- Tech Developm entProgram (No.86 3- 5 11- 943- 0 0 1) and the NationalNatural Science Foundation of China(No.5 980 5 0 11)
文摘This paper presents dimensional synthesis design theory for a novel planar 3-DOF (degrees of freedom) parallel machine tool. Closed-form solutions are developed for both the inverse and direct kinematics. The formulation of the dexterity and the definitions of the theoretical workspace and the valid workspace are used to analyze the effects of the design parameters on the dexterity and workspace. The analysis results are used to propose an approach to satisfy the platform motion requirement while realizing orientation capability, dexterity and valid workspace. A design example is given to illustrate the effectiveness of this approach.
文摘A calibration method is presented to enhance the static accuracy of a parallel kinematic machine tool by using a coordinate measuring machine and a laser tracker. According to the established calibration model and the calibration experiment, the factual 42 kinematic parameters of BKX-I parallel kinematic machine toot are obtained. By circular tests the comparison is made between the calibrated and the uncalihrated parameters and shows that there is 80 % improvement in accuracy of this machine tool.
