Comparison between A 4-DOF Hybrid Module and Tricept Module Focusing on Inverse Kinematics and Stiffness

摘要：

In this paper, a novel 5-Axis parallel kinematic machines (PKMs) and a 4-degree-of-freedom (DOF) hybrid module is presented and the comparison between the 4-DOF hybrid module and the Tricept focusing on inverse kinematics and stiffness is carried out. Compared to the Tricept, the Tricept-IV and the 4-DOF hybrid module are formulated by adding an active prismatic joint to the constrained passive limb or moving platform so as to enlarge the workspace/volume ratio. The unique underlying architecture demonstrates that the volume of Tricept-IV or 4-DOF hybrid module is much smaller than that of the Tricept approaching the same workspace. On basis of the analytic stiffness modeling and FEA model, the stiffness comparison between the two modules is carried out in this paper.

作者: Tao Sun Yimin Song

作者单位: School of Mechanical Engineering,Tianjin University,Tianjin 300072,P.R.China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 1597-1602

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）