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General approach for parameterization of the inverse dynamic equation for industrial robot and 5-axis CNC machine

General approach for parameterization of the inverse dynamic equation for industrial robot and 5-axis CNC machine

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: 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, witzerland, pp. 433-442. ISBN 9783030918927 (doi:https://doi.org/10.1007/978-3-030-91892-7_41)

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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: 16 Sep 2022 09:49
URI: http://gala.gre.ac.uk/id/eprint/37494

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