Kinematics Analysis for a 3-axis CNC Clamp with Adjustable Gradient

3-axis CNC clamp with adjustable gradient can eliminate the error which caused by the twice clamping of workpiece and improve the quality and efficiency of wedge-shaped aspheric surface machining.In order to control the obliquity and pose of workbench surfaces accurately,the method of setting the clamp′s coordinate system has been put forward according to the theory of a robot′s 3-DOF mechanical arm.The equations of kinematics and Jacobi matrix for the clamp are solved base on the coordinate system.The relation of position,orientation and velocity between workbench surfaces and each motive joint are presented.Then comparing with the analysis result of theory and ADAMS simulation by some examples,and the final result is obtained.The theoretical basis of program design for control system of the clamp is provided,which made the clamp move in accordance with the requirements of machining.