Dynamics modelling of hexaslides using the decoupled natural orthogonal complement matrices

DOI10.1007/S11044-005-9003-1MaRDI QIDQ2494525zbMATH OpenOpenAlexFDO

Authors A. B. Koteswara Rao, Subir Kumar Saha, P. V. M. Rao

Publication date 28 June 2006

Published in Multibody System Dynamics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s11044-005-9003-1

zbMATH Keywords

milling machine HexaMparellel architecture

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60)

Review text

The parallel structured kinematic machines with six degrees of freedom can be classified as hexapods, having struts with varying length, and hexaslides with fixed-length legs. Some of machine tools with hexaslide-type design are: the hexaglide with coplanar-parallel rails; the milling machine HexaM with slanted rails; and Linapod with vertical rails. The authors propose a dynamical model of generalized hexaslide based on decoupled natural orthogonal complement matrices. Such approach has some advantages which are demonstrated for machine tool of HexaM, while it is carrying out a circular contouring.

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Cited in

(2)

• Inverse dynamic modelling of a three-legged six-degree-of-freedom parallel mechanism
• Modeling of spherical robots rolling on generic surfaces

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