Workspace Analysis of the Parallel Module of the VERNE Machine

Details Workspace Analysis of the Parallel Module of the VERNE Machine Workspace Analysis of the Parallel Module of the VERNE Machine

2007-07-05

arxiv.org/abs/0707.0724v1

Problems of Mechanics 25, 4 (01/12/2006) 26-42

Computer Science

Robotics

Scientific paper

The paper addresses geometric aspects of a spatial three-degree-of-freedom parallel module, which is the parallel module of a hybrid serial-parallel 5-axis machine tool. This parallel module 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 pairs of 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. A method for computing the complete workspace of the VERNE parallel module for various tool lengths is presented. An algorithm describing this method is also introduced.

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