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The kinematic analyses of the 3-DOF parallel machine tools

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Abstract

A 3-degree-of-freedom (3-DOF) parallel machine tool based on a tripod mechanism is developed and studied. The kinematics analysis is performed, the workspace is derived, and an analysis on the number of conditions of the Jacobian matrix and manipulability is carried out. A method for error analysis and manipulability is introduced. Hence, the manipulability analysis of the parallel machine tool is accomplished.

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Authors and Affiliations

  1. School of Mechanical Engineering and Automation, Northeastern University, Shenyang, 110004, PRC

    Ming Hu & Jia-Shun Shi

Authors
  1. Ming Hu
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  2. Jia-Shun Shi
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Correspondence to Ming Hu.

Additional information

This work was supported by University Key Laboratory Foundation of Liaoning Province of China (No. 2008S094)

Ming Hu received the bachelor and master degrees in mechanical engineering from the Jinzhou Institute of Technology and Northeastern University, PRC in 1984 and 1991, respectively, and the Ph.D. degree in mechanical engineering at Northeastern University, PRC in 1999. He is currently an associate professor at the School of Mechanical Engineering and Automation, Northeastern University.

His research interests include robotics, concentrator network controller (CNC), and control theory.

Jia-Shun Shi received the bachelor and master degrees in mechanical engineering from the Jinzhou Institute of Technology and Northeastern University, PRC in 1985 and 1993, respectively. He is currently an associate professor at the School of Mechanical Engineering and Automation, Northeastern University.

His research interests include robotics, concentrator network controller (CNC), and control theory.

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Hu, M., Shi, JS. The kinematic analyses of the 3-DOF parallel machine tools. Int. J. Autom. Comput. 8, 107–111 (2011). https://doi.org/10.1007/s11633-010-0561-1

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  • DOI: https://doi.org/10.1007/s11633-010-0561-1

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