Optimal link design of a parallel machine tool based on manipulability analysis

In this paper, the input-output transmission characteristics of the Eclipse, which is a type of parallel machine tool capable of 5 face rapid machining, is investigated. By splitting the weighted Jacobian matrix into two parts, the force and moment transmission characteristics, together with the velocity and angular velocity transmission characteristics, are analyzed. A new manipulability measure, which combines the volume of the manipulability ellipsoid and the condition number of the split Jacobian matrix, is proposed. Two link parameters, the ratio of two radii of the upper and lower platforms and the length of a supporting link of the Eclipse, are designed by applying the new manipulability measure. Computer simulations are provided.