ISSN:
1662-9752
Source:
Scientific.Net: Materials Science & Technology / Trans Tech Publications Archiv 1984-2008
Topics:
Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
Notes:
Parallel mechanisms could be hardly used in contour tracking because of theirmechanism features. This study proposed a link-space real time contour tracking for a 3 DOF (Z、αand β) hydraulic parallel mechanism. The essence of this approach is to convert control points ofcommand trajectory to link space by inverse kinematics. A real-time interpolator was created andthe multi-axis cross-coupled pre-compensation control (MCCPM) was constructed for link-spacecontour tracking. It was shown that a contour-accurate trajectory tracking could be performed whichwas impossible in the original Z-α-β space. Other advantages of this link-space approach were timeefficiency and the uniform tracking velocity
Type of Medium:
Electronic Resource
URL:
http://www.tib-hannover.de/fulltexts/2011/0528/02/19/transtech_doi~10.4028%252Fwww.scientific.net%252FMSF.594.415.pdf
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