Kinematsko modelovanje Tricept osnove 5-osne mašine alatke

Abstract

Cilj ovog rada je da predstavi kinematsko modelovanje Tricept osnove peto-osne vertikalne mašine alatke. Pošto mašina obuhvata paralelnu strukturu (3 stepena slobode kretanja) i serijski zglob (2 stepena slobode kretanja), kinematsko modelovanje takođe obuhvata serijski i paralelni deo. Kao direktno rešenje i inverzna kinematika serijskog zgloba je dobro poznata pa će se ovoj rad fokusirati samo na paralelne strukture.

This paper is aimed in presenting a study on the kinematic modeling of the Tricept based five-axis vertical machine tool. Since the machine comprises 3-DOF parallel structure and 2-DOF serial wrist kinematic modeling also comprises serial and parallel part. As solution of direct and inverse kinematics of 2-DOF serial wrist is well known the study in this paper will focus on the parallel structure only.