engleski

SIMPLIFIED DYNAMICS OF HEXAPOD MACHINE TOOL

In the last century the mechanisms of parallel kinematic structure have become interesting for the construction of machine tools. The institutes world-wide are working intensively on the development of these machines as five-axes machining centres, which should take over the primate in the high-speed machining of tools such as moulds and dies of bigger masses. Due to relatively new concept of building machine tools, the previous works have developed computer and model visualisation of a cost-efficient version. In this paper a general solution has been developed for the inverse kinematic problem of the selected version, which is not sufficient for a comprehensive consideration of the system dynamics. The Lagrangian equation used in the work to consider the dynamics of PKS mechanism requires knowledge of the difficult-to-solve direct kinematics. Therefore, simplifications have been made, i.e. only the movement of the movable platform (tool carrier) along the z-axis has been taken into consideration. The results obtained in this work represent a moderate contribution to solving the actual issue, as help in developing the concept of controlling this type of machine.

Hexapod; inverse kinematic problem; dynamics

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