Dynamic model of an overconstrained PKM with compliances

This paper deals with dynamic modeling of a parallel kinematic machine tool: the Tripteor X7. This machine has a hybrid kinematic, so it presents a serial wrist attached to an overconstrained parallel unit. Two dynamic models are proposed in this paper. The first one is built with only rigid bodies. It aims at identifying the inertial parameters and those of the movement transformation devices. In the second model, joints and legs compliances are introduced. This model is then used to study the impact of elements deformations on the generated surfaces. All this simulations are compared to experimental measurements realized directly on the Tripteor. Highlights? Overconstraint Parallel Kinematic Machine tool. ? Dynamic model of PKM for machining simulation. ? Tripteor X7 Parallel Kinematic Machine tool (PKM) for High Speed Machining (HSM).