Kinematics Model of a Novel 6-DOF Redundancy Hybrid Machine Tool
A structure scheme for a novel 6-DOF hybrid machine tool（ HMT） is proposed. In this scheme,a novel 4-PRP redundantly actuated parallel mechanism is proposed as the position module,which can realize three motion,with assistance of the 3-UPS&PU parallel mechanism,6-DOF machining can be realize...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2017-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.04.034 |
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| _version_ | 1841547692923158528 |
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| author | Liu Na Mei Ying Wang Shusen Hu Weiwei |
| author_facet | Liu Na Mei Ying Wang Shusen Hu Weiwei |
| author_sort | Liu Na |
| collection | DOAJ |
| description | A structure scheme for a novel 6-DOF hybrid machine tool（ HMT） is proposed. In this scheme,a novel 4-PRP redundantly actuated parallel mechanism is proposed as the position module,which can realize three motion,with assistance of the 3-UPS&PU parallel mechanism,6-DOF machining can be realized. Firstly,the three-dimensional translations and three-dimensional rotations motion of this machine tool are analyzed based on screw theory. Then,the inverse displacement analysis model is provided by using analytical methods and the geometric relation of the mechanism. And the first-order influence coefficient matrix-Jacobian matrix and the second order influence coefficient matrix-Hessian matrix and complete kinematics model are established by using the influence coefficient method. At last,the position inverse solution is obtained by using MATLAB and the results simulation verification is carried out by using ADAMS,which verify that the correctness of the inverse displacement analysis model and the realizability of the mechanism. |
| format | Article |
| id | doaj-art-cad71ee471e048148c13822b65a22d6c |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2017-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-cad71ee471e048148c13822b65a22d6c2025-01-10T14:23:44ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392017-01-014115616229929854Kinematics Model of a Novel 6-DOF Redundancy Hybrid Machine ToolLiu NaMei YingWang ShusenHu WeiweiA structure scheme for a novel 6-DOF hybrid machine tool（ HMT） is proposed. In this scheme,a novel 4-PRP redundantly actuated parallel mechanism is proposed as the position module,which can realize three motion,with assistance of the 3-UPS&PU parallel mechanism,6-DOF machining can be realized. Firstly,the three-dimensional translations and three-dimensional rotations motion of this machine tool are analyzed based on screw theory. Then,the inverse displacement analysis model is provided by using analytical methods and the geometric relation of the mechanism. And the first-order influence coefficient matrix-Jacobian matrix and the second order influence coefficient matrix-Hessian matrix and complete kinematics model are established by using the influence coefficient method. At last,the position inverse solution is obtained by using MATLAB and the results simulation verification is carried out by using ADAMS,which verify that the correctness of the inverse displacement analysis model and the realizability of the mechanism.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.04.034Redundantly actuatedHybrid machine toolScrew theoryKinematic influence coefficientKinematics model |
| spellingShingle | Liu Na Mei Ying Wang Shusen Hu Weiwei Kinematics Model of a Novel 6-DOF Redundancy Hybrid Machine Tool Jixie chuandong Redundantly actuated Hybrid machine tool Screw theory Kinematic influence coefficient Kinematics model |
| title | Kinematics Model of a Novel 6-DOF Redundancy Hybrid Machine Tool |
| title_full | Kinematics Model of a Novel 6-DOF Redundancy Hybrid Machine Tool |
| title_fullStr | Kinematics Model of a Novel 6-DOF Redundancy Hybrid Machine Tool |
| title_full_unstemmed | Kinematics Model of a Novel 6-DOF Redundancy Hybrid Machine Tool |
| title_short | Kinematics Model of a Novel 6-DOF Redundancy Hybrid Machine Tool |
| title_sort | kinematics model of a novel 6 dof redundancy hybrid machine tool |
| topic | Redundantly actuated Hybrid machine tool Screw theory Kinematic influence coefficient Kinematics model |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.04.034 |
| work_keys_str_mv | AT liuna kinematicsmodelofanovel6dofredundancyhybridmachinetool AT meiying kinematicsmodelofanovel6dofredundancyhybridmachinetool AT wangshusen kinematicsmodelofanovel6dofredundancyhybridmachinetool AT huweiwei kinematicsmodelofanovel6dofredundancyhybridmachinetool |