Closed Form Solution to Workspace of Hexapod-Based Virtual Axis Machine Tools

[+] Author and Article Information
T. Huang

School of Mechanical Engineering, Tianjin University, Tianjin 300072, P.R. China

J. Wang

School of Mechanical Engineering, Tsinghua University, Beijing 100083, P.R. China

D. J. Whitehouse

Department of Engineering, University of Warwick, Coventry, CV4 7AL, UK

J. Mech. Des 121(1), 26-31 (Mar 01, 1999) (6 pages) doi:10.1115/1.2829424 History: Received August 01, 1997; Revised November 01, 1998; Online December 11, 2007


A novel methodology is presented in this paper for the workspace analysis of virtual axis machine tools. The workspace is defined which enables to describe in a unified framework both the position and orientation capabilities of the mobile platform. Given a range of the orientation of the mobile platform, the piecewise closed solution to the workspace boundary is formulated. It is indicated for the first time that the workspace boundary in fact is the cap of twelve envelope surfaces. Two examples are given to illustrate the effectiveness of this approach.

Copyright © 1999 by The American Society of Mechanical Engineers
Topics: Machine tools
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