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

Harib, Khalifa H.; Ullah, Aman; Hammami, Asma

doi:10.1016/j.ijmachtools.2006.09.021

Cited by 51 publications

(24 citation statements)

References 8 publications

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“…(7) for two sets concurrent lines (or one set concurrent lines and one set parallel lines) in two different planes, there are only three independent lines if the intersections lie in the intersecting line of the two planes; (8) there are at most five independent lines in two or more planes that intersect at one line; (9) there are at most five independent lines in two or more parallel planes.…”

Section: Basic Criterions Of Grassmann Line Geometry Usingmentioning

confidence: 99%

“…Some engineering practices also indicate that machine tools based on PKMs outperform those based on SKMs in surface finish and geometric accuracy when machining hardened materials [7]. In this field, some machine tools based on fully parallel mechanisms are developed, such as Variax [7], Hexapod [8], Metrom, and others. Variax and Hexapod are based on the Gough-Stewart platform, and both of them need six-axis computer numerical control (CNC) and have relatively small workspace, especially the limited rotational capacity.…”

Section: Introductionmentioning

confidence: 99%

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Type Synthesis and Typical Application of 1T2R-Type Parallel Robotic Mechanisms

Xie

Liu

2013

Mathematical Problems in Engineering

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This paper focuses on the 1T2R-type (T: translational DOF; R: rotational DOF) parallel robotic mechanisms (PKMs) and discusses their type synthesis and typical application in five-axis machine tools. Based on Grassmann line geometry and atlas method, a systematic method dealing with the type synthesis of lower mobility PKMs is introduced. The Blanding rules and generalized Blanding rules, which are the criterions in realizing the mutual conversion between the freedom-space atlas and the constraintspace atlas, are summarized and discussed in detail. Thereafter, the entire procedure of the type synthesis is presented, and the type synthesis of 1T2R PKMs is carried out. Based on the synthesis results, a five-axis hybrid mechanism is proposed and a machine tool is developed consequently. The type synthesis method presented in this paper is intuitive and concise and can be used in the type synthesis of other lower mobility PKMs.

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Section: Basic Criterions Of Grassmann Line Geometry Usingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Type Synthesis and Typical Application of 1T2R-Type Parallel Robotic Mechanisms

Xie

Liu

2013

Mathematical Problems in Engineering

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“…We also define the rotation matrix W R P between Frames {T} and {W} using the z-x-z Euler angles ) , , ( which directly identifies the redundant orientation component in 5-axis machining applications [12][13]. Angle represents the tilting angle of the cutting tool axis in a plane made by z W and z T .…”

Section: Position Kinematic Analysismentioning

confidence: 99%

Optimal Design for Improved Hybrid Kinematic Machine Tools Structures

Harib¹,

Ullah

Moustafa³

2013

Procedia CIRP

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The structures of machine tools used nowadays require improvement for achieving the sustainability of manufacturing in terms of functionality, cost, and energy consumption. This study deals with the optimal design problem formulation for improving the kinematic design of machine tools having hybrid kinematic structures (i.e., structures having both serial and parallel kinematic mechanisms). The solutions for overcoming such challenges as 1) size of workspace, 2) shape of workspace, 3) enhancement of dexterity, and 4) compactness of the machine are presented. The mobility of over-constrained parallel and hybrid kinematic structures is also discussed. Throughout the article, examples are cited for the sake of better understanding.

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“…Also as an alternative configuration, the 2-DOF wrest joint that hold the spindle could also be replaced by a 2-DOF rotary table, transferring the relative rotational motion to the workpiece. A redundant hybrid structure consisting of a hexapod machine tools and a 2-DOF rotary table is suggested and analyzed by Harib et al (2007).…”

Section: Fig 8 a Schematic Of The Exechon Hybrid Kinematic Machine mentioning

confidence: 99%