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Kinematic and dynamic models of a tripod system with a passive leg

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2 Author(s)
Bi, Z.M. ; Integrated Manuf. Technol. Inst., Nat. Res. Council Canada, London, Ont., Canada ; Lang, S.Y.T.

In this paper, a new tripod system is proposed for the light-metal machining application, and its kinematic and dynamic models are studied. The new tripod system is a type of parallel kinematic machine with three degrees of freedom, and it uses a passive leg to increase system stiffness and eliminate the undesired end-effector motion along some axes. Both the direct and inverse kinematic problems are solved, and the dynamic problem is modeled by applying the Newton-Euler approach. A case study is provided to validate the kinematic and dynamic models and illustrate this new tripod design.

Published in:

Mechatronics, IEEE/ASME Transactions on  (Volume:11 ,  Issue: 1 )