Kinematics analysis of the parallel module of the VERNE machine - Computer Science > RoboticsReport as inadecuate




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Abstract: The paper derives the inverse and forward kinematic equations of a spatialthree-degree-of-freedom parallel mechanism, which is the parallel module of ahybrid serial-parallel 5-axis machine tool. This parallel mechanism consists ofa moving platform that is connected to a fixed base by three non-identicallegs. Each leg is made up of one prismatic and two pair spherical joint, whichare connected in a way that the combined effects of the three legs lead to anover-constrained mechanism with complex motion. This motion is defined as asimultaneous combination of rotation and translation.



Author: Daniel Kanaan (IRCCyN), Philippe Wenger (IRCCyN), Damien Chablat (IRCCyN)

Source: https://arxiv.org/







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