Kinematics analysis of the parallel module of the VERNE machine

Daniel Kanaan (1) , Philippe Wenger (1) , Damien Chablat (1)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

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.

Mots clés: Parallel manipulators; Parallel kinematic machines; inverse kinematics; forward kinematics; complex motion; Verne

Domaines: Robotique [cs.RO]

Daniel Kanaan, Philippe Wenger, Damien Chablat. Kinematics analysis of the parallel module of the VERNE machine. The 12th World Congress in Mechanism and Machine Science, Jun 2007, Besançon, France. pp.1-6. ⟨hal-00145391⟩