Some Foundation Issues Analysis Of 5-DOF PMT With Redundant Actuation

As the result of synthesizing machine tools with robot technology, parallel machine tools (PMT) are considered to be"new NC machines of 21 the century", which have good developing future and high scientific research value. This paper focuses on the research of basic problems for the Redundant Actuation PMT.In this paper, the basic concepts and characteristics of PMT are presented. With that, the developing and researching status about PMT domestic and abroad are expatiated. The advantage of the PMT which compared with traditional machine tools in structure are analyzed, the main problems on development of PMT are mentioned.The inverse solution of the position and the inverse solution of the velocity are analyzed. The Jacobian matrix of the Redundant Actuation PMT is established, and the kinematic performance of the PMT is given. The static equilibrium equation of the Redundant Actuation PMT is established and the force transfer matrix is obtained. It is verified that transpose of the force Jacobian matrix is just the velocity Jacobian matrix. The drive force was then optimized using force optimization and energy optimization due to the redundant actuation.Based on Lagrange equation, the dynamic equation of Redundant Actuation PMT was established. Computer simulation was performed to investigate the driving forces variation when the platform moves along a circle. A method of actuated force programming is given, the results provided references for detailed research on dynamic characteristics and optimal design of the PMT.At last part, this paper uses mechanic dynamic analysis software ADAMS to build a virtual prototype of the Redundant Actuation PMT, gives the detail of simplified method of model, ADAMS description of model, control of simulating process. It shows the simulation for the kinematic and dynamic performance of the Redundant Actuation PMT, and the experimental is designed to verify the correctness of the virtual prototype.