文档介绍：Mechanism and Machine Theory 44 (2009) 1371–1385
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Mechanism and Machine Theory
journal homepage: ate/mechmt
Reduction of a parallel kinematics machine tool inverse kinematics
model with regard to machining behaviour
H. Chanal a,*, E. Duc a, . Hascoët b, P. Ray a
a LaMI, IFMA/UBP-Campus des Cézeaux, BP 265, 63175 Aubiere Cedex, France
b yN, 1 rue de la Noë, BP 92101, 44321 Nantes Cedex, France
article info abstract
Article history: A main limitation of parallel kinematics machine tools in machining tasks is their accuracy
Received 5 April 2008 low level largely due to geometrical transformation errors. These errors appear due to the
Received in revised form 5 November 2008 difference between the behaviour of the inverse kinematics model integrated into the con-
Accepted 10 November 2008
troller and that of the real PKM. The aim of this paper is to analyse the influence of the con-
Available online 24 December 2008
troller IKM on PKM machining behaviour and to quantify its incidence on the assembly and
machining tolerances of structural elements.
Ó 2008 Elsevier Ltd. All rights reserved.
Keywords:
Parallel kinematics machine tool
Inverse kinematics model
Geometrical transformation errors
Geometrical parameters
Assembly and machining tolerances
Design constraints
1. Introduction
For several years, parallel kinematics mechanisms have been used in the automotive or aeronautical industries as ma-
chines tools. Indeed, the dynamics of these structures can be relevant for high-speed machining (HSM), since their acceler-
ation potential is much higher than serial kinematics machines tools (SKM) [1–4].
However, a limitation of parallel kinematics machines tools (PKM) applications in machining is the low level of tool pose
pared to SKM [5,6]. This limitation is due to plexity of their pared to SKM. Indeed, the
particularity of PKM is that the effector (the tool in our case) is connected to the