General approach for parameterization of the inverse dynamic equation for industrial robot and 5-axis CNC machine
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Anh My, Chu, Cong Dinh, Nguyen, Quoc Hung, Truong, Hoang Hung, Pham, The Nguyen, Nguyen, Van Luu, Dao, Xuan Bien, Duong, Minh Duc, Vu and Le, Chi Hieu 
ORCID: https://orcid.org/0000-0002-5168-2297
(2021)
General approach for parameterization of the inverse dynamic equation for industrial robot and 5-axis CNC machine.
In: Khang, N.V.,, Hoang, N.Q. and Ceccarelli, Marco, (eds.)
Advances in Asian Mechanism and Machine Science. ASIAN MMS 2021. Mechanisms and Machine Science.
Mechanisms and Machine Science, 113
.
Springer Nature, Cham, Switzerland, pp. 433-442.
ISBN 9783030918927
(doi:10.1007/978-3-030-91892-7_41)
Abstract
In practice, using the 5-axis CNC machines and industrial welding robots for fabricating more and more complex mechanical parts is an increasing demand. In this context, the tooltip of the machines/robots is usually required to move along a complex toolpath represented by a parametric equation such as Bezier, Spline or NURBS. Hence, computation of the inverse kinematics and dynamics e.g. velocities, accelerations, jerks and applied torques/forces in the joint space of a machine/robot when the tooltip tracks such as high curvature parametric curve is challenging. Therefore, this paper presents a general approach for the parameterization of the kinematic and dynamic equations of the machine/robot. By using the proposed method, the kinematics and dynamics model of a machine/robot can be formulated in the parametric domain, which is advantageous and applicable for the dynamic analysis of the 5-axis CNC machine/robot and other purposes.
| Item Type: | Book Section |
|---|---|
| Uncontrolled Keywords: | robot dynamics; 5-axis CNC machine; parameterization of dynamic equation; dynamics of 5-axis CNC machine |
| Subjects: | T Technology > T Technology (General) T Technology > TJ Mechanical engineering and machinery |
| Faculty / School / Research Centre / Research Group: | Faculty of Engineering & Science Faculty of Engineering & Science > Design, Manufacturing and Innovative Products Research Theme Faculty of Engineering & Science > School of Engineering (ENG) |
| Related URLs: | |
| Last Modified: | 22 May 2023 12:13 |
| URI: | http://gala.gre.ac.uk/id/eprint/37494 |
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