Dynamic Variation of the Workspace of an Octahedral Hexapod Machine Tool During Machining

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dc.contributor.authorConti, Joseph P.en_US
dc.contributor.authorClinton, Charles M.en_US
dc.contributor.authorZhang, Guangmingen_US
dc.contributor.authorWavering, Albert J.en_US
dc.contributor.departmentISRen_US
dc.date.accessioned2007-05-23T10:03:53Z
dc.date.available2007-05-23T10:03:53Z
dc.date.issued1997en_US
dc.description.abstractA method is presented to evaluate the workspace variation of a Stewart platform based machine tool. Four sets of constraints, covering strut lengths, platform spherical joint angles, base spherical joint angles, and strut collisions, are formulated using inverse kinematics. Recognizing the need for varying the platform orientation during machining, an algorithm to efficiently calculate the workspace is developed. Computer implementation provides a powerful tool to study the dynamic variation of the workspace as the spindle platform rotates away from the horizontal orientation. A case study is presented on the workspace variation of an Ingersoll Octahedral Hexapod machine tool during machining. The results demonstrate the shift in size and location of the workspace as the platform orientation changes. Guidelines for NC coding are suggested to maximize the versatility of Stewart platform based machine tools, while avoiding the violation of constraint conditions on the workspace.<P>en_US
dc.format.extent1325164 bytes
dc.format.mimetypeapplication/pdf
dc.identifier.urihttp://hdl.handle.net/1903/5858
dc.language.isoen_USen_US
dc.relation.ispartofseriesISR; TR 1997-28en_US
dc.subjectroboticsen_US
dc.subjectautomationen_US
dc.subjectcomputer aided manufacturing en_US
dc.subjectcomputer integrated manufacturing en_US
dc.subjectmanufacturingen_US
dc.subjectSystems Integration Methodologyen_US
dc.titleDynamic Variation of the Workspace of an Octahedral Hexapod Machine Tool During Machiningen_US
dc.typeTechnical Reporten_US

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