Workspace Variation of a Hexapod Machine Tool

Published

March 1, 1998

Author(s)

J Conti, C Clinton, Li Zhang, Albert J. Wavering

Abstract

A method is presented to evaluate the workspace variation of a Stewart platform based machine tool. Three sets of constraints, covering strut lengths, platform and base spherical joint angles, and strut collisions, are formulated using inverse kinematics. Recognizing the need to vary the platform orientation during machining, an algorithm to efficiently calculate the workspace is developed. Computer implementation provides a powerful tool to study the dynamic variation of the workspace as the spindle platform changes orientation. A case study is presented on the workspace variation of a prototype hexapod machine tool as a function of platform orientation. The results demonstrate the shift in size and location of the workspace as the platform orientation changes. The workspace analysis tools presented can be used to maximize the versatility of Stewart platform based machines and avoid violation of workspace constraint conditions.

Citation

NIST Interagency/Internal Report (NISTIR) - 6135

Report Number

6135

NIST Pub Series

NIST Interagency/Internal Report (NISTIR)

Pub Type

NIST Pubs

Download Paper

Local Download

Keywords

Hexapod, forward kinematics, hexapod, inverse kinematics, Stewart Platform, workspace

Citation

Conti, J. , Clinton, C. , Zhang, L. and Wavering, A. (1998), Workspace Variation of a Hexapod Machine Tool, NIST Interagency/Internal Report (NISTIR), National Institute of Standards and Technology, Gaithersburg, MD, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=820612 (Accessed September 7, 2024)