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

Published online by Cambridge University Press:  25 April 2001

Fengfeng Xi ,
Wanzhi Han ,
Marcel Verner  and
Andrew Ross
Fengfeng Xi
Affiliation:
Integrated Manufacturing Technologies Institute, National Research Council of Canada, London, Ontario (Canada) N6G 4X8. jeff.xi@nrc.ca
Wanzhi Han
Affiliation:
Integrated Manufacturing Technologies Institute, National Research Council of Canada, London, Ontario (Canada) N6G 4X8.
Marcel Verner
Affiliation:
Integrated Manufacturing Technologies Institute, National Research Council of Canada, London, Ontario (Canada) N6G 4X8.
Andrew Ross
Affiliation:
Integrated Manufacturing Technologies Institute, National Research Council of Canada, London, Ontario (Canada) N6G 4X8.
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Abstract

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.

Keywords

Sliding-leg tripodProgrammable deviceManufacturing industrySystem analysis
Type
Research Article
Information
Robotica , Volume 19 , Issue 3 , May 2001 , pp. 285 - 294
Copyright
2001 Cambridge University Press

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