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2002•Journal of Northeastern UniversityRequires access

Kinematics Study of 2TPT-PTT Parallel Machine Tool

Xing Li

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Abstract

A novel 2TPT PTT three degree of freedom translational parallel machine tool was assumed. Gives out the kinematics equation and the inverse and forward solutions were given. The singularity of mechanism was analyzed by the Jacobian matrix. The velocity of each leg was researched by inverse Jacobian matrix. Its three dimensional model was received in Solidworks and visualNastran desktop. The velocity of legs was studied in three dimensional space. The kinematics inverse and forward solutions and Jacobian matrix are correct. This mechanism is compact conformation,stable,non singularity and easy to be controlled.

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What this paper is about

A novel 2TPT PTT three degree of freedom translational parallel machine tool was assumed. Gives out the kinematics equation and the inverse and forward solutions were given. The singularity of mechanism was analyzed by the Jacobian matrix. The velocity of each leg was researched by inverse Jacobian matrix. Its three dimensional model was received in Solidworks and visualNastran desktop. The velocity of legs was studied in three dimensional space. The kinematics inverse and forward solutions and Jacobian matrix are correct. This mechanism is compact conformation,stable,non singularity and easy to be controlled.

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Available abstract

A novel 2TPT PTT three degree of freedom translational parallel machine tool was assumed. Gives out the kinematics equation and the inverse and forward solutions were given. The singularity of mechanism was analyzed by the Jacobian matrix. The velocity of each leg was researched by inverse Jacobian matrix. Its three dimensional model was received in Solidworks and visualNastran desktop. The velocity of legs was studied in three dimensional space. The kinematics inverse and forward solutions and Jacobian matrix are correct. This mechanism is compact conformation,stable,non singularity and easy to be controlled.

Key concepts: Jacobian matrix and determinant, Kinematics, Singularity, Inverse kinematics, Inverse, Matrix (chemical analysis), Control theory (sociology), Mathematics

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