Lagrangian Dynamics Analysis of a XY-Theta Parallel Robotic Machine Tool

Periodica Polytechnica Mechanical Engineering

Javad Enferadi¹  Mohammad Tavakolian¹ 

关键词: parallel kinematics machine tool;    Lagrangian dynamics;    Lagrangian multipliers;    inverse dynamics;    forward dynamics;   

DOI  :  

来源: Budapest University of Technology and Economics

【 摘 要 】

Dynamics of a highly stiff parallel machine tool is the subject of this paper. High stiffness, good accuracy, relatively large workspace and free of singularities on the whole workspace makes the manipulator suitable for machining applications as an XY-Theta precision table. First, obtaining kinematics constraints, inverse kinematics analysis and velocity analysis are performed. Next, using six redundant generalized coordinates, we obtain Lagrangian of the manipulator. Also, a Lagrangian approach is proposed to obtain dynamics equations of the machine tool using three Lagrangian multipliers. This method allows elimination of constraint forces and moments at the joints from the motion equations. Dynamic equations of the manipulator are formed as inverse dynamics and direct dynamics problems. Finally, two examples are presented that confirms the obtained dynamics equations

【 授权许可】

Unknown