The full text of this article:

A study of the inverse dynamics of a hybrid polishing kinematical machine tool based on the flexible multi-body systems
by Miao Yu, Ji Zhao
International Journal of Computer Applications in Technology (IJCAT), Vol. 29, No. 2/3/4, 2007
Abstract: This paper presents a novel 5-DOF Hybrid Polishing Kinematical Machine Tool (HPKMT), which is made up of '3 axes parallel + 2 axes series' to obtain more stable machining result in the elastic polishing on the free-form surfaces. The dynamic characteristics of HPKMT are studied in detail by means of the theory of dynamics of flexible multi-body systems. Its characteristics of the kinematics and dynamics need be known deeply to control HPKMT effectively. 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.

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