Abstract
In practice, using the 5-axis CNC machines and industrial welding robots for fabricating more and more complex mechanical parts is an increasing demand. In this context, the tooltip of the machines/robots is usually required to move along a complex toolpath represented by a parametric equation such as Bezier, Spline or NURBS. Hence, computation of the inverse kinematics and dynamics e.g. velocities, accelerations, jerks and applied torques/forces in the joint space of a machine/robot when the tooltip tracks such as high curvature parametric curve is challenging. Therefore, this paper presents a general approach for the parameterization of the kinematic and dynamic equations of the machine/robot. By using the proposed method, the kinematics and dynamics model of a machine/robot can be formulated in the parametric domain, which is advantageous and applicable for the dynamic analysis of the 5-axis CNC machine/robot and other purposes.
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Acknowledgement
This work was supported by the Research Foundation of Le Quy Don Technical University. This work was funded by Gia Lam Urban Development and Investment Company Limited, Vingroup and supported by Vingroup Innovation Foundation (VINIF) under project code VINIF.2019.DA08.
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My, C.A. et al. (2022). General Approach for Parameterization of the Inverse Dynamic Equation for Industrial Robot and 5-axis CNC Machine. In: Khang, N.V., Hoang, N.Q., Ceccarelli, M. (eds) Advances in Asian Mechanism and Machine Science. ASIAN MMS 2021. Mechanisms and Machine Science, vol 113. Springer, Cham. https://doi.org/10.1007/978-3-030-91892-7_41
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DOI: https://doi.org/10.1007/978-3-030-91892-7_41
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