Workspace Variation of a Hexapod Machine Tool

摘要

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 collisons, are formulated using inverse kinematics. Recognizing the need to vary the platform orientation during machining, an algorithms to efficiently calculate the workspace is developed. Computer implementation provides powerful tool to study the dynamic variation of the workspace as the spindle platform changes orientation.