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Dynamic model and force control of the redundantly actuated parallel manipulator of a 5-DOF hybrid machine tool

Published online by Cambridge University Press:  01 January 2009

Jun Wu ,
Jinsong Wang ,
Liping Wang  and
Tiemin Li
Jun Wu*
Affiliation:
Institute of Manufacturing Engineering, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, People's Republic of China
Jinsong Wang
Affiliation:
Institute of Manufacturing Engineering, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, People's Republic of China
Liping Wang
Affiliation:
Institute of Manufacturing Engineering, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, People's Republic of China
Tiemin Li
Affiliation:
Institute of Manufacturing Engineering, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, People's Republic of China
*
*Corresponding author. E-mail: wu-j03@mails.tsinghua.edu.cn
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Summary

This paper deals with the dynamic model and force control of the redundantly actuated parallel manipulator of a 5-DOF hybrid machine tool. The inverse dynamic model is derived by using the Newton–Euler method. The driving force is optimized by the least-square method. Based on the kinematic and dynamic models, the redundant chain is controlled by force mode and other chains by position mode. The redundantly actuated parallel manipulator is incorporated into a 5-DOF hybrid machine tool which also includes a worktable with a translational DOF and a rotational DOF. The experiments wherein the machine moves along a straight-line trajectory and a circular trajectory show that the machine has a good contouring performance.

Keywords

Dynamic modelForce controlRedundantly actuated parallel manipulator
Type
Article
Information
Robotica , Volume 27 , Issue 1 , January 2009 , pp. 59 - 65
Copyright
Copyright © Cambridge University Press 2008

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