Inverse kinematic analysis of 5-axis hybrid parallel kinematic machine using CAD and regression analysis approach

Abstract

Since three decades for their potentially desirable fast dynamic performance, rigidity, and acceptable accuracy parallel kinematic machines (PKM) attracted interest from industry and academia in the machine tool/robot sectors. PKMs are highly used for their higher accuracy as it relies on system stiffness and rigidity. In PKM, the inverse kinematic analysis for finding the velocity and acceleration of a limb having more than two degree of freedom (DOF) manually is tedious. Also, generation of transformation matrix is too complex. In present work, six degrees of freedom 5-axis hybrid parallel kinematic machine (HPKM) with hemisphere workspace has been modelled and assembled in CATIA. Secondly, inverse kinematic analysis of PKM was carried out in digital mockup unit (DMU), CATIA. The velocities and accelerations of all the three limbs at three different feed rates and variations in joint angles were found. On the other hand, the regression equations were generated for velocity and acceleration of three limbs, joint angles with respect to position and time, while the tool travels along the semi circular contour trajectory.