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

K. H. Harib, A. M.M. Sharif Ullah, A. Hammami

Research output: Contribution to journalArticlepeer-review

46 Citations (Scopus)

Abstract

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.

Original languageEnglish
Pages (from-to)1426-1432
Number of pages7
JournalInternational Journal of Machine Tools and Manufacture
Volume47
Issue number9
DOIs
Publication statusPublished - Jul 2007

Keywords

  • Hybrid redundant kinematics
  • Parallel kinematics
  • Trajectory planning

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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