Stiffness-based workspace atlas of hexapod machine tool for optimal work piece location

Muruganandam, S.; Pugazhenthi, S.

doi:10.1007/s00170-008-1573-7

Cited by 3 publications

(4 citation statements)

References 12 publications

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“…(7) and not necessarily by the decomposed format in Eq. (12). In other words, in the Cartesian-space approach there is no need to formulate the angular velocities and the elongation rates of each strut to obtain a parametric formulation of the total kinetic energy of the struts.…”

Section: Parametric Linearized Equations Of Motionmentioning

confidence: 99%

“…Due to the complexity in formulating the stiffness matrix in the Cartesian space, often a semi-parametric or a finite element approach is used. The semi-parametric approach is referred to a formulation of the stiffness matrix simply in terms of the Jacobian matrix without a parametric representation in terms of the design variables [10][11][12][13]. Formulations of the stiffness matrix for some special conditions can also be found in [14][15][16] and a parametric formulation of the stiffness matrix in the Cartesian space for the neutral configuration is given in [9].…”

mentioning

confidence: 99%

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Influence of strut inertia on the vibrations in initially symmetric Gough–Stewart Platforms—an analytical study

Afzali-Far

Andersson

Nilsson

et al. 2015

Journal of Sound and Vibration

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Section: Parametric Linearized Equations Of Motionmentioning

confidence: 99%

mentioning

confidence: 99%

Influence of strut inertia on the vibrations in initially symmetric Gough–Stewart Platforms—an analytical study

Afzali-Far

Andersson

Nilsson

et al. 2015

Journal of Sound and Vibration

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“…The heavy computational burden makes it technologically almost impossible to incorporate the analytical calculations into the real-time interpolation algorithms. Some attempts by Muruganandam and Pugazhenthi 23 have been made to introduce a graphical means to conduct the optimal workpiece setup.…”

Section: Kinematic Nonlinearity and Maximum Kinematic Error Estimationmentioning

confidence: 99%

“…Pugazhenthi et al 22 proposed an optimal trajectory planning scheme for Stewart-platform-based machine tools in which the stiffness of the structure was maximized and simultaneously the force requirement of the actuators was minimized, while satisfying the constraints of workspace and singularity. Muruganandam and Pugazhenthi 23 presented a methodology to plot the workspace atlas based on stiffness for hexapod machine tools. They also demonstrated how such stiffness-based workspace atlas could help in selecting optimal workpiece location.…”

Section: Introductionmentioning

confidence: 99%

Contour maps for developing optimal toolpath and workpiece setup in hexapod machine tools by considering the kinematics nonlinearity

Karimi

Nategh

2016

Proceedings of the Institution of Mechanical Engineers, Part B:

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Contrary to the conventional serial kinematics machine tools, the parallel kinematics machine tools exhibit nonlinear behavior which is a major source of the machining error. This causes even a linearly programmed path to be traversed along a nonlinear path. The resulting error, known here as the kinematic error, should be critically considered during the toolpath planning. The estimation of the maximum kinematic error using the concept of median osculating circle is introduced in this article. The proposed formulation demonstrates that the maximum kinematic error depends on the curvature of the actual trajectory. In order to estimate the curvature, constant curvature contour maps are introduced. These maps depend on the structural parameters of the machine and are recommended to be provided by the machine's manufacturer. The constant curvature contour maps are illustrated to be an effective graphical tool for kinematic error estimation and thus successfully conducting the optimal planning of the toolpath and the workpiece setup. Consequently, it is recommended in this article that the constant curvature contour maps be employed in the format of a database by computer-aided manufacturing systems during toolpath planning and by interpolators during command generation or by a part programmer to optimally setup the workpiece or conduct the toolpath planning such that the least kinematic error occurs during the machining.

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Controlling Hybrid Machine Tools concerning Error Compensation of Chain Elements

Duong

Le-Thi-Thu

Pham-Thanh

et al. 2022

Journal of Robotics

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This paper introduces a methodology for controlling parallel robots in case they are used as a kind of specialized fixture to expand the technological capabilities of machines. The parallel robot is mounted on the workbench to extend the number of degrees of freedom. However, there are always measurable kinematic errors of the workbench which will be eliminated by the robot’s motion. The actual working motion of the robot is then still performed by its active joints. Therefore, the displacement of each movable joint is now decided by two sources, one is due to the error compensation motion of the workbench, the other is the required work movement. According to the superposition principle, these two motions are combined into a single displacement characteristic curve to control the robot. The base exchange technique to determine the error compensation motion of the workbench, the technique of solving the inverse kinematics problem by the generalized reduced gradient (GRG) method, and the principle of joint motion combination are then introduced in detail in the paper. Finally, an example with the hexapod is presented. The obtained results, which use the robot itself to generate error-compensated movements of the workbench by means of the base exchange technique, will open up the possibility of intervening in hybrid machine systems to ensure the desired forming accuracy without no hardware intervention required.

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Stiffness-based workspace atlas of hexapod machine tool for optimal work piece location

Cited by 3 publications

References 12 publications

Influence of strut inertia on the vibrations in initially symmetric Gough–Stewart Platforms—an analytical study

Influence of strut inertia on the vibrations in initially symmetric Gough–Stewart Platforms—an analytical study

Contour maps for developing optimal toolpath and workpiece setup in hexapod machine tools by considering the kinematics nonlinearity

Controlling Hybrid Machine Tools concerning Error Compensation of Chain Elements

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