Analysis of Reconfigurable 2DOF Machinery for Intelligent Manufacturing Systems

摘要

This paper analyzes the 2-DOF Global Kinematic Model (2-GKM). The 2-GKM model has a combination of both rotational and/or translational types of joints and all possible positive joint directions in 3D. Due to the model's complexity a simple example is selected: 2-Ttr (2 DOF Rotational and rotational/translational joints). The analysis includes the calculation of the Jacobian matrix, singularity conditions, Workspace, direct and inverse kinematics and dynamics. The results are used for the control of the reconfigurable path, which is defined as a set of teach points and each point is defined with the coordinates and configurations.