Dynamic Modeling of a 2-RPU+2-UPS Hybrid Manipulator for Machining Application

Dynamic Modeling of a 2-RPU+2-UPS Hybrid Manipulator for Machining Application

This paper presents a novel 5-DOF gantry hybrid machine tool, designed with a 2-RPU+2-UPS parallel mechanism for 3T2R motion. The 2-RPU+2-UPS parallel mechanism is connected to a long linear guide to realize 5-axis machining. A dynamic model is developed for this parallel-serial hybrid system. Screw...

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Bibliographic Details
Main Authors: Ruiqin Li, Shusen Wang, Dabao Fan, Yuting Du, Shaoping Bai
Format: Article
Language:English
Published: Norwegian Society of Automatic Control 2017-10-01
Series:Modeling, Identification and Control
Subjects:
gantry hybrid machine tool
2-RPU+2-UPS
kinematics and dynamics modeling
large-scale structural part machining
Online Access:http://www.mic-journal.no/PDF/2017/MIC-2017-4-2.pdf

Internet

http://www.mic-journal.no/PDF/2017/MIC-2017-4-2.pdf

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