Actuator driving force analysis and modelling of TRR-XY PKM

T. H. Chang, S. L. Chen, Y. C. Chang, I. Inasaki

Research output: Contribution to journalArticle


The main aim of this work is to investigate the actuator driving force variations of a parallel kinematic machine (PKM) for different cutting paths. To meet this aim, a TRR-XY five-degrees-of-freedom (5DOF) PKM was selected and built for this research, and a dynamic analysis model of the PKM was developed. Here, 'T' stands for translational DOF and 'R' stands for rotational DOF of the platform. In this research, the dynamic analysis and modelling for the TRR-XY PKM are derived on the basis of the Denavit-Hartenberg (D-H) notation method. The parametric tool concept and Lagrange equation theory are also included in the derivation. The actuator driving force variations for different cutting paths are obtained using the developed dynamic modelling. Five cutting paths are selected to represent the possible cutting paths inside the workspace. The obtained actuator driving force variations on A, B, C chains are useful for obtaining a good dynamic performance PKM machining application. The main results show that the required actuator driving forces are mainly affected by the inclination angle, φ, of the tool platform. The angular acceleration of the tool platform has only very little effect. For obtaining a better PKM machining application, a working space with smaller φ is recommended.

Original languageEnglish
Pages (from-to)87-101
Number of pages15
JournalProceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics
Issue number1
Publication statusPublished - 2002 Dec 1


All Science Journal Classification (ASJC) codes

  • Condensed Matter Physics
  • Mechanical Engineering

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