OF 6 DOF PARALLEL KINEMATIC MACHINE TOOL*

Wang Qi  Wang Liping  Wang Jinsong  Li Tiemin
Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, China

Abstract: It is impossible to avoid the link interference of the 6-SPS PKM (parallel kinematic machine tool) by using the hardware and it is also very hard to check it by using the software real-timely nowadays. However, link interference is a serious potential safety problem. A workspace model of XNZ63 based on the concerns about the journey of links, the geography restriction of hinges, the link interference and the pose restriction of the moving platform are established. The solution set of the model, whose envelope is a closed planar line, is found out by using the numerical continuous method, and this envelope describes the relationship of the tool's rotation angle about its own axis and the link interference directly. A range of the tool's rotation angle, which is restricted by the controllable extra freedom, is obtained by analyzing the characteristics of the envelope, and the link interference is sure not to happen with the restriction of this angle.

Key words: 6-SPS parallel kinematic machine tool  Link interference  Workspace

* This project is supported by National High Technology Research and Development Program (863 Program) Foundation of China (No.2001AA421110) and Mechanical Engineering School Foundation of Tsinghua University (No.091202003). Selected from Proceedings of International Symposium of Advanced Manufacturing Technology(ISAMT'2001); revised manuscript July 25, 2002

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