Development of a sliding-leg tripod as an add-on device for manufacturing

Fengfeng  Xi; Wanzhi  Han; Marcel  Verner; Andrew  Ross

doi:10.1017/S0263574700002964

Abstract

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This paper presents the work on developing a sliding-leg tripod as a programmable add-on device for manufacturing. The purpose is to enhance the capabilities of any machine by providing it with a more flexible range of motion. This device can be used as a toolhead for CNC machine tools and robots, or as a work stage for coordinate measuring machines and laser scanning systems. In this paper, system modelling, analysis and control of this device is presented. System modeling includes mobility study, kinematic model and inverse kinematics. System analysis includes workspace analysis, transmission ratio and stiffness analysis. System control includes path planning, joint space control and Cartesian space prediction. It is shown that the proposed device can provide flexibility and dexterity to machines.

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Development of a sliding-leg tripod as an add-on device for manufacturing

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This article has been cited by the following publications. This list is generated based on data provided by Crossref.

Article contents

Development of a sliding-leg tripod as an add-on device for manufacturing

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