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Reconfiguration And Tool Path Planning Of Hexapod Machine Tools, Zhenqun Li
Reconfiguration And Tool Path Planning Of Hexapod Machine Tools, Zhenqun Li
Dissertations
Hexapod machine tools have the potential to achieve increased accuracy, speed, acceleration and rigidity over conventional machines, and are regarded by many researchers as the machine tools of the next generation. However, their small and complex workspace often limits the range of tasks they can perform, and their parallel structure raises many new issues preventing the direct use of conventional tool path planning methods. This dissertation presents an investigation of new reconfiguration and tool path planning methods for enhancing the ability of hexapods to adapt to workspace changes and assisting them in being integrated into the current manufacturing environments.
A …
General Parallel-Leg Mechanism : Position Analysis, Hans Buus Gangwar
General Parallel-Leg Mechanism : Position Analysis, Hans Buus Gangwar
Theses
This thesis proposes to analytically express the positions of the legs (each leg has a length and two spin orientations) for a parallel leg mechanism in terms of a single variable. The only limitations imposed are the leg bases are all on the same reference plane and the tool orientation is normal to the mobile upper plate. This is done for a parallel leg mechanism having any number of legs. The variable chosen is the first leg's vertex position on the upper plate.
The state space is the space the configuration can occupy. By looking at a planar slice of …