Abstract
Today, Parallel Kinematic Machine tools (PKMs) appear in automotive and aeronautic industry. These machines propose high kinematic performances allowing a higher productivity than Serial Kinematic Machine tools (SKMs). However, this kinematic behaviour is anisotropic and a particular study is then necessary to locate the part in a workspace where the kinematic performances are well exploited. The study presented in this article deals with the determination of geometric and kinematic models of a new PKM : the Tripteor X7 designed by PCI. The inverse kinematic model expresses the joint coordinates with regard to the cartesian coordinates. The kinematic model which takes into account velocity, acceleration and jerk limits axis, allows computing the displacement time between two tool positions. Finally, this model can be used to determine the workspace where Non Effective cutting Times (TNE) are minimum. The method is applied for an automotive part machining
Publisher
Trans Tech Publications, Ltd.
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