Counterweight optimization of an asymmetrical hybrid machine tool based on dynamic isotropy

摘要

This paper deals with the counterweight optimization of an asymmetrical hybrid machine tool based on dynamic isotropy. The dynamic model is derived and the dynamic manipulability ellipsoid is studied. Based on dynamic manipulability ellipsoid, the dynamic isotropy is defined. Counterweight block and fluid counterweight are presented to balance the weight of moving parts. The mass of the counterweight block is optimized to obtain the maximum dynamic isotropy in the workspace. The dynamic isotropy of the machine tool after counterweight optimization is compared with that before counterweight optimization. Furthermore, the dynamic isotropy of the machine tool with fluid counterweight is investigated and compared with that of the machine tool with counterweight block.