In this paper, the kinematics of 5-UPS parallel machine tool is analyzed, and a kinematic analysis method combining kinematic analysis and computer kinematics software is proposed. Under the premise that the parallel machine tool sector parameters is known, firstly we use the vector method to establish a mathematical model of inverse kinematics, and in accordance with a U-shaped processing trajectory the inverse solution is calculated; Secondly, three-dimensional model of the parallel machine tool is modeled in Adams, and kinematic constraints are set correctly; Finally, the inverse kinematics solution of the mathematical model is used as the Adams drive input, then the positive solutions is carried out. Compared through the Adams simulation results with U-machining path, it is verified that the inverse solution of the mathematical model and parallel machine tool bodies both are correct, it has certain significance for Parallel machine tools and other parallel robot kinematics analysis.
Kinematic Analysis of a 3-dof Parallel Machine Tool with Large Workspace
