Dynamic model of an overconstrained PKM with compliances: The Tripteor X7

Authors:
T. Bonnemains;H. Chanal;B. C. Bouzgarrou;P. Ray
Affiliations:
Brest Laboratory of Mechanics and Systems, UBO, 29285 Brest Cedex, France;Clermont Université, IFMA, UMR 6602, Institut Pascal, BP 10448, F-63000 Clermont-Ferrand, France;Clermont Université, IFMA, UMR 6602, Institut Pascal, BP 10448, F-63000 Clermont-Ferrand, France;Clermont Université, IFMA, UMR 6602, Institut Pascal, BP 10448, F-63000 Clermont-Ferrand, France
Venue:
Robotics and Computer-Integrated Manufacturing
Year:
2013

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Abstract

This paper deals with dynamic modeling of a parallel kinematic machine tool: the Tripteor X7. This machine has a hybrid kinematic, so it presents a serial wrist attached to an overconstrained parallel unit. Two dynamic models are proposed in this paper. The first one is built with only rigid bodies. It aims at identifying the inertial parameters and those of the movement transformation devices. In the second model, joints and legs compliances are introduced. This model is then used to study the impact of elements deformations on the generated surfaces. All this simulations are compared to experimental measurements realized directly on the Tripteor.