Kinematic Analysis of a Serial - Parallel Machine Tool: the VERNE machine

Simple item page
dc.creatorKanaan, Daniel
dc.creatorWenger, Philippe
dc.creatorChablat, Damien
dc.date2008-11-28
dc.date.accessioned2026-07-07T12:06:24Z
dc.date.available2026-07-07T12:06:24Z
dc.descriptionThe paper derives the inverse and the forward kinematic equations of a serial - parallel 5-axis machine tool: the VERNE machine. This machine is composed of a three-degree-of-freedom (DOF) parallel module and a two-DOF serial tilting table. The parallel module consists of a moving platform that is connected to a fixed base by three non-identical legs. These legs are connected in a way that the combined effects of the three legs lead to an over-constrained mechanism with complex motion. This motion is defined as a simultaneous combination of rotation and translation. In this paper we propose symbolical methods that able to calculate all kinematic solutions and identify the acceptable one by adding analytical constraint on the disposition of legs of the parallel module.
dc.identifierhttps://arxiv.org/abs/0811.4733
dc.identifierhttp://arxiv.org/abs/0811.4733
dc.identifierMechanism and Machine Theory 44, 2 (2009) 487-498
dc.identifierdoi:10.1016/j.mechmachtheory.2008.03.002
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/208643
dc.subjectRobotics
dc.titleKinematic Analysis of a Serial - Parallel Machine Tool: the VERNE machine
dc.typetext

Files

Collections

arXiv