A hexapod-based machine tool with hybrid structure: Kinematic analysis and trajectory planning
A hexapod-based machine tool with hybrid structure: Kinematic analysis and trajectory planning
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DOI：
10.1016/j.ijmachtools.2006.09.021
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发表时间：
2007-07
影响因子：
14
通讯作者：
K. Harib;A. Ullah;A. Hammami
中科院分区：
文献类型：
--
作者：
K. Harib;A. Ullah;A. Hammami
对一种由六自由度六足机床和二自由度转台组成的新型机床结构进行了运动学分析和轨迹规划。因此，要操作拟议的机床，应定义八个坐标。由于传统的零件编程最多只能定义五个轴，因此应使用适当的轨迹规划来定义剩余的三个坐标。建立了分析模型，定义了结构中各参数之间的关系。还开发了一个基于规则的模型来选择冗余坐标，而不需要经过任何复杂和耗时的计算。
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.