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Workspace analysis of reconfigurable parallel machine tool based on setting-angle of spherical joint

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4 Author(s)
Chunshen Lin ; Dept.of Precision Instrum., Tsinghua Univ., Beijing, China ; Xiaoqiang Tang ; Junshan Shi ; Guangdong Duan

This paper provides a study of workspace analysis of reconfigurable parallel machine tool (PMT). A reconfigurable PMT is established in either telescoped drive form or railway linear drive form by the same modules but different assembly modes. In the architecture of the PMT, an angle-variable module is designed to change the setting-angle in X and Z orientation for working more efficiently. In the workspace analysis of the PMTs of two drive models, inverse kinematics solution is given, and the effect of setting-angle of spherical joint on PMT has been investigated and the spherical joint setting-angle selection method has been proposed. A comparison result is supplied to show the difference of workspace between these two kinds of PMTs.

Published in:

Systems, Man and Cybernetics, 2003. IEEE International Conference on  (Volume:5 )

Date of Conference:

5-8 Oct. 2003