文章基本信息

标题：Modelling and Control of Inverse Dynamics for a 5-DOF Parallel Kinematic Polishing Machine
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作者：Weiyang Lin ; Bing Li ; Xiaojun Yang 等
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2013
卷号：10
DOI：10.5772/54966
语种：English
出版社：SAGE Publications
摘要：Currently, about 60% of the finishing works for freeform parts are done manually, in this paper a parallel kinematic polishing machine (PKPM) with five degrees of freedom (DOFs) and with structural configurations of the type T3R2 (three translations and two rotations) is presented. The PKPM is a variation of the existing METROM Pentapod. The PKPM has a large yaw angle space and, with the aid of an NC rotation table, it can access any given point of the freeform part. A kinematic analysis is developed, an inverse dynamic model based on Kane's equation and the affine projection method is set up in detail, and a real-time and highly efficient inverse dynamic algorithm is developed; the simulation results show that the presented PKPM could achieve an acceleration which is twice that of gravity. A mixed ℋ2/ℋ∞ control method is presented and investigated in order to track the error control of the inverse dynamic model; the simulation results from different conditions show that the mixed ℋ2/ℋ∞ control method could achieve an optimal and robust control performance. This work shows that the presented PKPM has a higher dynamic performance than conventional machine tools.
关键词：Inverse Dynamics; Parallel Kinematic Machine; Robust Control; Mixed ℋ2/ℋ∞ Control