Workspace and Kinematic Analysis of the VERNE machine

Details Workspace and Kinematic Analysis of the VERNE machine Workspace and Kinematic Analysis of the VERNE machine

2007-07-24

arxiv.org/abs/0707.3507v1

Dans International Conference on Advanced Intelligent Mechatronics - AIM, Z\"urich : Suisse (09/2007)

Computer Science

Robotics

Scientific paper

This paper describes the workspace and the inverse and direct kinematic analysis of the VERNE machine, a serial/parallel 5-axis machine tool designed by Fatronik for IRCCyN. 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. This feature involves (i) a simultaneous combination of rotation and translation for the moving platform, which is balanced by the tilting table and (ii) workspace whose shape and volume vary as a function of the tool length. This paper summarizes results obtained in the context of the European projects NEXT ("Next Generation of Productions Systems").

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