Machine Tool Design Optimization of High Resolution Parallel Hexapod in Cartesian Workspace

Subject Areas : Mechanical Engineering

Mir Amin Hosseini ¹ , HamidReza Mohammadi Daniali ²

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Received: 2011-08-07 Accepted : 2017-10-31 Published : 2011-06-01

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Abstract :

In the research, six degrees of freedom Hexapod parallel machine tool is studied and investigated. Jacobian matrix is developed by cinematic relations differentiation and using weighted coefficient method, dimensional analysis operation is carried out on Jacobian matrix. Geometric parameters of Cartesian robot workspace are optimized, considering a minimum allowable rotation about three axes, and implementing Genetic Algorithm in MATLAB software workspace. For the manipulator workspace, isotropy indices, minimum and maximum singular values are calculated. The optimization operation has lead to two different designs of manipulators, namely the isotropic design, and high resolution Cartesian workspace.

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Experimental Study on Magnetic Abrasive Honing of Inner Surface of Tube AISI304
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Machine Tool Design Optimization of High Resolution Parallel Hexapod in Cartesian Workspace