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

Abstract:

Article Preview

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)

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 et al., "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:

$35.00

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

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