Kinematic Analysis of a Serial - Parallel Machine Tool: 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 the forward kinematic equations of a serial - parallel 5-axis machine tool: the VERNE machine. This machine is composed of a three-degree-of-freedom (DOF) parallel module and a two-DOF serial tilting table. The parallel module consists of a moving platform that is connected to a fixed base by three non-identical legs. These legs 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. In this paper we propose symbolical methods that able to calculate all kinematic solutions and identify the acceptable one by adding analytical constraint on the disposition of legs of the parallel module.

Mots clés: Parallel kinematic machines; Machine tool; Complex motion; Inverse kinematics; Forward kinematics; Verne Machine

Domaines: Robotique [cs.RO]; Mécanique [physics.med-ph]

Daniel Kanaan, Philippe Wenger, Damien Chablat. Kinematic Analysis of a Serial - Parallel Machine Tool: the VERNE machine. Mechanism and Machine Theory, 2009, 44 (2), pp.487-498. ⟨10.1016/j.mechmachtheory.2008.03.002⟩. ⟨hal-00342928⟩