摘要
In recent years, hybrid devices have increasingly received more research.However, few of researchers studied the dynamic analysis. The inverse dynamic analysis of a novelhybrid machine tool designed in Tsinghua University is presented. The hybrid machine tool underconsideration consists of parallel and serial structures, which is based on a new 2-DOF parallelplatform and serial orientations. The kinematics and the dynamic equations are studied first for theparallel structure through Newton-Euler approach. And then, the dynamic analysis for serialstructures is conducted. Finally, a closed-form inverse dynamic formulation is derived by using someelimination techniques. Some simulation results are also given.
In recent years, hybrid devices have increasingly received more research.However, few of researchers studied the dynamic analysis. The inverse dynamic analysis of a novelhybrid machine tool designed in Tsinghua University is presented. The hybrid machine tool underconsideration consists of parallel and serial structures, which is based on a new 2-DOF parallelplatform and serial orientations. The kinematics and the dynamic equations are studied first for theparallel structure through Newton-Euler approach. And then, the dynamic analysis for serialstructures is conducted. Finally, a closed-form inverse dynamic formulation is derived by using someelimination techniques. Some simulation results are also given.
基金
This Project is suppord by Mechanical Engineering School Foundaion of Tsinghua University, China (No.091202003)
National Natural Science Foundation of China (No.50275084)
