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

X.F. Fang; Y.H. Tong; R.Y. Zhao; S.W. Zhang; Tong Yue Wang; Yuan Wei Liu

doi:10.4028/www.scientific.net/MSF.697-698.282

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HomeMaterials Science ForumMaterials Science Forum Vols. 697-698Algorithm for the Inverse Kinematics Calculation...

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.

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Periodical:

Materials Science Forum (Volumes 697-698)

Pages:

282-287

DOI:

https://doi.org/10.4028/www.scientific.net/MSF.697-698.282

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Online since:

September 2011

Authors:

X.F. Fang, Y.H. Tong, R.Y. Zhao, S.W. Zhang, Tong Yue Wang, Yuan Wei Liu

Keywords:

Inverse Solution of the Kinematics, Lie Algebra, Paden-Kahan, Parallel Machine Tool (PMT), Sub-Problem

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