Dynamic modeling and validation of a tripod-based machine tool

In this paper, a reconfigurable tripod machine tool system is introduced, with a focus on dynamic modeling. The Newton-Euler approach is applied and a new modeling procedure is proposed. In the procedure of the dynamic modeling, the reference coordinate system for the forces/torques calculation and that for the equilibrium equations derivation are dealt with respectively. As a result, specific structural features of the tripod system are utilized to simplify the dynamic model and, thus, reduce the calculation complexity. The prototype tripod system is developed and the presented method is implemented for its configuration design. An experiment is conducted to validate the dynamic model.

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