Path planning for motion control of hexapod machines

Document Type

Conference Proceeding

Publication Date

1-1-2001

Abstract

The dramatic departure in structure of the hexapod machine tools from the traditional five-axis machines leads to the question: can the planning and control methods for the traditional CNC machines be used for the hexapod machine tools? We studied several tool motion characteristics, such as Jocabian matrices, path tracking errors and the extra degree of freedom (e-DOF), and found that the traditional five-axis planning methods cannot take into consideration of the kinematics performance variation and the e-DOF in a hexapod. A kinematics-based tool path planning scheme for the hexapods is therefore proposed. It combines the traditional tool path planning with the kinematic condition optimization. The optimization is a two-step process. First a high accuracy zone of the workspace is identified globally for the placement of the part. Then a set of 5-DOF tool paths is generated and extended to a set of 6-DOF tool paths based on the local planning of eDOF. Finally the relationship between the e-DOF and the stiffness of the Hexapods, another factor in the use of e-DOF, are discussed.

Identifier

1542726332 (Scopus)

Publication Title

ASME International Mechanical Engineering Congress and Exposition Proceedings

First Page

1779

Last Page

1786

Volume

2

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