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| HAL : hal-00145391, version 1 |
| arXiv : 0705.1410 |
| Fiche détaillée |  Récupérer au format |
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| Besançon : France (2007) |
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| Kinematics analysis of the parallel module of the VERNE machine |
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| Daniel Kanaan 1Philippe Wenger 1 |
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| (18/06/2007) |
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| The paper derives the inverse and forward kinematic equations of a spatial three-degree-of-freedom parallel mechanism, which is the parallel module of a hybrid serial-parallel 5-axis machine tool. This parallel mechanism consists of a moving platform that is connected to a fixed base by three non-identical legs. Each leg is made up of one prismatic and two pair spherical joint, which are connected in a way that the combined effects of the three legs lead to an over-constrained mechanism with complex motion. This motion is defined as a simultaneous combination of rotation and translation. |
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| 1 : | Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN) |
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CNRS : UMR6597 – Université de Nantes – École Centrale de Nantes – Ecole des Mines de Nantes – Ecole Polytechnique de l'Université de Nantes |
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| Méthode de conception en mécanique |
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| Domaine | : | Informatique/Robotique |
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| Parallel manipulators – Parallel kinematic machines – inverse kinematics – forward kinematics – complex motion – Verne |
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| Liste des fichiers attachés à ce document : | |||||
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| hal-00145391, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00145391 | |
| oai:hal.archives-ouvertes.fr:hal-00145391 | |
| Contributeur : Damien Chablat | |
| Soumis le : Jeudi 10 Mai 2007, 10:17:20 | |
| Dernière modification le : Jeudi 10 Mai 2007, 10:33:02 | |
