Paper Title:
Algorithm for the Inverse Kinematics Calculation of Cross Rods Parallel Machine Tools Based on Lie-Algebras
  Abstract

In order to solve the problems that traditional kinematics model built by the method of D-H parameters can only reflect relative movements between adjacent components and can't express directly the spatial poses of every component relative to static platform, Lie-algebras is used this paper to establish the product of exponential formula of forward direct kinematics of every branch chains. The elimination method and Paden - kahan sub-problems are used to calculate joint variables. Then the quick and intuitive inverse algorithm of cross rods parallel machine tools is acquired. The algorithm provides reliable proofs for the analysis of error compensation, kinematics interference and singularity. Finally we prove our theory with an example of an actual parallel machine tool.

  Info
Periodical
Materials Science Forum (Volumes 697-698)
Chapter
I. Advanced Manufacturing Technology and Equipment
Edited by
Tian Huang, Dawei Zhang, Bin Lin, Anping Xu, Yanling Tian and Weiguo Gao
Pages
282-287
DOI
10.4028/www.scientific.net/MSF.697-698.282
Citation
X.F. Fang, Y.H. Tong, R.Y. Zhao, S.W. Zhang, T. Y. Wang, Y. W. Liu, "Algorithm for the Inverse Kinematics Calculation of Cross Rods Parallel Machine Tools Based on Lie-Algebras", Materials Science Forum, Vols. 697-698, pp. 282-287, 2012
Online since
September 2011
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Xi Jun Liu, Su Xia Zhang, Long Xu Xu, Shu Jun Hou, Bing Huo
Chapter 6: Advanced Construction Materials
Abstract:in this paper, super low noise mining system is analyzed with dynamics model, every constructional element is studied with analysis of...
1228
Authors: Jian Hua Zhang, Da Wei Fu, Xiao Jun Zhang
Chapter 1: Mechatronics
Abstract:Assembly is an important process in the manufacturing processes. For the badly self-adaptive and flexibility, the stuck phenomena and...
131
Authors: Dai Zheng Fang, Gui Cheng Wang, Xiu Lian Li
Abstract:s. The work principle of indexing mechanism with globoidal cam is depicted firstly. Equations of the contour surface and the conjugate...
52
Authors: Mei Li Yu, Ji Rong Wang, Jun Li, Wei Cui, Da Li
Chapter 14: Design for Sustainability
Abstract:In this paper, the hand movements of exoskeletons rehabilitation robot are analyzed from a practical point. According to the hand functions...
2333
Authors: Mate Csaba Zoltan, Faluvegi Erzsebet, Cristea Luciana
Chapter 4: Robotics
Abstract:This paper aims to present special issues concerning the analysis of mobile robots with kinematic motion effects on the stability study. In...
221