Workspace and dexterity analyses of hexaslide machine tools

Author

Rao, A. B Koteswara ; Rao, P.V.M. ; Saha, S.K.

Author_Institution

Dept. of Mech. Eng., Indian Inst. of Technol., New Delhi, India

Volume

3

fYear

2003

fDate

14-19 Sept. 2003

Firstpage

4104

Abstract

This paper presents kinematic analysis of a class of parallel manipulators, namely, Hexaslides, for machine tool applications. Hexaslides have constant-length legs. The inverse and direct kinematics solutions, to study the workspace properties of hexaslides are presented. Various kinematic performance indices, namely, workspace volume, workspace volume index, i.e. the ratio of workspace volume to machine size and global dexterity index of hexaslides having same foot print size are used to study different rail-arrangements. Secondly, effect of two important parameters related to configuration, i.e. gap between adjacent rails in case of hexaslide configuration and inclination of rails incase of slanted configuration, on the performance measures is presented.

Keywords

machine tools; machining; manipulator kinematics; manipulators; performance index; adjacent rails gap; constant length legs; dexterity analysis; direct kinematics solution; foot print size; global dexterity index; hexaslide machine tools; inverse kinematics solution; kinematic analysis; machining; parallel manipulators; performance indices; performance measures; rail arrangements; workspace analysis; workspace properties; workspace volume index; Feeds; Foot; Kinematics; Leg; Machine tools; Machining; Manipulators; Mechanical engineering; Rails; Tires;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-7736-2

Type

conf

DOI

10.1109/ROBOT.2003.1242228

Filename

1242228