A hexapod-based machine tool with hybrid structure: Kinematic analysis and trajectory planning

This paper shows kinematic analysis and trajectory planning for a novel machine tool structure consisting of a six degree-of-freedom hexapod machine and a two-degree-of-freedom rotary table. Accordingly, to operate the proposed machine tool, eight coordinates should be defined. Since a conventional...

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Bibliographic Details
Published in:International journal of machine tools & manufacture 2007-07, Vol.47 (9), p.1426-1432
Main Authors: Harib, K.H., Sharif Ullah, A.M.M., Hammami, A.
Format: Article
Language:English
Subjects:
Applied sciences
Exact sciences and technology
Hybrid redundant kinematics
Industrial metrology. Testing
Mechanical engineering. Machine design
Parallel kinematics
Trajectory planning
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Description
Summary:This paper shows kinematic analysis and trajectory planning for a novel machine tool structure consisting of a six degree-of-freedom hexapod machine and a two-degree-of-freedom rotary table. Accordingly, to operate the proposed machine tool, eight coordinates should be defined. Since a conventional part programming can define at the most five axes, the three remaining coordinates should be defined by using appropriate trajectory planning. An analytical model is developed that defines the relationships among the parameters in the proposed structure. A rule-based model is also developed to select the redundant coordinates without going through any complex and time-consuming calculations.
ISSN:0890-6955
1879-2170
DOI:10.1016/j.ijmachtools.2006.09.021