The analytical representations of the inverse and forward kinematics of a tripod-based parallel machine tool are formulated. The NC interpolation algorithm is developed which can be implemented by two steps, i.e. the rough intepolation in the Cartesian space and the precise interpolation in the actuator space. The theoretical error due to the PVT algorithm in the precise interpolation and nonlinear mapping property is analyzed. It concludes that this error can be negligible provided that the machine operates at low and middle speed.
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