A study of the inverse dynamics of a hybrid polishing kinematical machine tool based on the flexible multi-body systems

This paper presents a novel five DOF hybrid polishing kinematical machine tool (ffPKMT) which is made up of "3 axes parallel + 2 axes series" in order to obtain more stable machining result in the elastic polishing on the free-form surfaces. The dynamic characteristics of the HPKMT is studied in detail by means of the theory of dynamics of flexible multi-body systems. In order to control the HPKMT effectively, its characteristic of the kinematics and dynamics need be known deeply. The analysis of the inverse of mechanism is the important part in the research of dynamics. Adopting the same experiment condition with simulation analysis, the inverse kinematical trace of the three sliders can be obtained. It is shown that the simulation result is almost the same as the measured result from the experiment.