A STUDY ON THE DYNAMIC CHARACTERISTICS OF THE 2-DOF REDUNDANT PARALLEL MANIPULATOR OF A HYBRID MACHINE TOOL

摘要

This paper deals with the dynamic characteristics of the 2 degree-offreedom (2-DOF) redundant parallel manipulator of a 5-DOF hybrid machine tool. The stiffness matrix of the parallel manipulator is derived by considering the revolute pair stiffness. Taking the damp and dynamic cutting force into account, the analytic dynamic model is derived. The third-order natural frequencies and displacement response of the redundant parallel manipulator are compared with those of its non-redundant counterpart. The simulations show that the redundant parallel manipulator has higher natural frequency and smaller displacement response than its non-redundant counterpart.