Development of a sliding-leg tripod as an add-on device for manufacturing

Authors:
Fengfeng Xi;Wanzhi Han;Marcel Verner;Andrew Ross
Affiliations:
Integrated Manufacturing Technologies Institute, National Research Council of Canada, London, Ontario (Canada) N6G 4X8. jeff.xi@nrc.ca;Integrated Manufacturing Technologies Institute, National Research Council of Canada, London, Ontario (Canada) N6G 4X8.;Integrated Manufacturing Technologies Institute, National Research Council of Canada, London, Ontario (Canada) N6G 4X8.;Integrated Manufacturing Technologies Institute, National Research Council of Canada, London, Ontario (Canada) N6G 4X8.
Venue:
Robotica
Year:
2001

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Abstract

This paper presents the work on developing a sliding-leg tripod as a programmable add-on device for manufacturing. The purpose is to enhance the capabilities of any machine by providing it with a more flexible range of motion. This device can be used as a toolhead for CNC machine tools and robots, or as a work stage for coordinate measuring machines and laser scanning systems. In this paper, system modelling, analysis and control of this device is presented. System modeling includes mobility study, kinematic model and inverse kinematics. System analysis includes workspace analysis, transmission ratio and stiffness analysis. System control includes path planning, joint space control and Cartesian space prediction. It is shown that the proposed device can provide flexibility and dexterity to machines.