Determination of servomotor parameters of a tripod-based parallel kinematic machine

• 作 者: 黄田 赵兴玉 王洋 梅江平 倪雁冰
• 机 构: School of Mechanical Engineering, Tianjin University, Tianjin 300072, China,School of Mechanical Eng
• 出 处: Progress in Natural Science
• 发表日期: 2001年08期
• 关键词: kinematic torque servo struts format inertia bounds accelerating singular specif

This paper presents a comprehensive methodology to determine the servomotor parameters of a parallel kinematic machine according to the design specifications in terms of the cutting load, fast feed rate and accelerating capabilities. Due to the characteristics of the parallel format, the singular value decomposition technique is employed to determine the lower and upper bounds of the servomotor parameters such as the rated speed and torque. An approach is also developed to determine the maximum equivalent moment of inertia of the platform and struts reduced onto a servo axis , which therefore allows the accelerating capability of the servo system to be examined in terms of the maximum torque required. The effectiveness of this methodology is exemplified by the application to a tripod-based parallel kinematic machine for high-speed milling.

Due to the characteristics of the parallel format, the singular value decomposition technique is employed to determine the lower and upper bounds of the servomotor parameters such as the rated speed and torque. An approach is also developed to determine the maximum equivalent moment of inertia of the platform and struts reduced onto a servo axis, which therefore allows the accelerating capability of the servo system to be examined in terms of the maximum torque required. The effectiveness of this methodology is based on the application to a tripod-based parallel kinematic machine for high-speed milling.