Determination of servomotor parameters of a tripod-based parallel kinematic machine

摘要

This paper presents a comprehensive methodology to determine the servomotor parameters of a paral- lel kinematic machine according to the design specifications in terms of the cutting load, fast feed rate and accelerating capabilities. Due to the characteristics of the parallel format, the singular value decomposition technique is employed to determine the lower and upper bounds of the servomotor parameters such as the rated speed and torque. An approach is also developed to determine the maximum equivalent moment of inertia of the platform and struts reduced onto a servo ax- is which therefore allows the accelerating capability of the servo system to be examined in terms of the maximum torque required.