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A 5-degree of freedom (DOF) 5-UPS/PRPU parallel machine tool (PMT) with redundant actuation is introduced. The characteristic of the PMT is described. Based on the conventional Lagrange Equation, the dynamic formulation of this PMT with redundant actuation is derived. A novel force distribution method is proposed for redundant actuation. The constraint couple of the PRPU limb to the moving platform...
A 5-DOF 5-UPS/PRPU parallel machine tool (PMT) is introduced. Redundant actuation is adopted in order to improve the positional accuracy and dynamic performance. A method for the measurement of positioning accuracy of PMT under dynamic condition is described in detail. It is based on Agilent 5529A dual-frequency laser interferometer which is capable of performing dynamic calibration. Based on the...
A 5-Degree of Freedom (DOF) 5-UPS/PRPU fully parallel machine tool (PMT) was introduced. Based on the original edition of CNC system, the concise motion control algorithm was deduced by analyzing the identical feature between two Euler angles of 5-UPS/PRPU PMT and two swing angles of conventional 5-axis cutter swing machine tool. Then by using the formula of the inverse kinematic solution of the PMT,...
This paper presents the kinematics analysis of a novel 5-UPS/PRPU 5-degree-of-freedom parallel machine tool based on genetic algorithms. The characteristic of the parallel machine tool is described and the mathematic expression of the 5-UPS/PRPU parallel machine tool’s velocity mapping matrix is derived. The genetic algorithms is introduced in the search of the singular configuration and the extrema...
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