Parallel Kinematics:the Importance of Enabling Technologies

  • M. Weck
  • M. Giesler
  • A. Meylahn
  • D. Staimer
Conference paper
Part of the Advanced Manufacturing book series (ADVMANUF)


Even if parallel kinematics for machining application must still prove their authorisation on the market, the first prototypes show that turning away from conventional solutions leads to interesting and promising alternatives. However, in contrast to conventional serial machines, whose technology is well developed in detail, the implementation of new kinematic concepts requires the development of new problem-specific technical solutions. This contribution points out the substantial features of this new machine generation with special focus on structurally caused problems in design, control and calibration. Possible solutions, which have been worked out at WZL are presented by the example of the Ingersoll Octahedral Hexapod and the Dyna-M concept.


Machine Tool Parallel Manipulator Stewart Platform Tool Center Point Kinematic Calibration 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Eversheim W, Klocke F, Pfeifer T, Week M 1996 Wettbewerbsfaktor Produktionstechnik. Aachener Perspektiven, AWK Aachener Werkzeugmaschinenkolloquium 96, VDI-Verlag, DusseldorfGoogle Scholar
  2. 2.
    Zirn O, Treib T 1998 Parallelkinematische Werkzeugmaschinen - Wachstumsgesetze paralleler und serieller Kinematiken im Werkzeugmaschinenbau. Konstruktion 50 (l-2): 31 - 36Google Scholar
  3. 3.
    Merlet J-P 1997 Workspace-Oriented Methodology for Designing a Parallel Manipulator. In: Chedmail P et al. (eds) 1997 Integrated Design and Manufacturing in Mechanical Engineering. Kluwer Academic PublishersGoogle Scholar
  4. 4.
    Pritschow G, Wurst K-H 1997 Systematic Design of Hexapods and other Parallel Link Systems. Annals of the CIRP 46 (1 ): 291 - 295CrossRefGoogle Scholar
  5. 5.
    Soons JA 1997 Error analysis of a hexapod machine tool. In: Proceedings Lamdamap ’97 Conference, The University of Huddersfield, United KingdomGoogle Scholar
  6. 6.
    Patel AJ 1997 Volumetric Error Analysis of a Stewart Platform-Based Machine Tool. Annals of the CIRP 46 (l): 287 - 290CrossRefGoogle Scholar
  7. 7.
    Zhuang H, Roth Z S 1993 Method for Kinematic Calibration of Stewart Platforms. Journal of Robotic Systems 10 (3): 391 - 405zbMATHCrossRefGoogle Scholar
  8. 8.
    Zhuang H, Liu L, Masory O 1997 Autonomous Calibration of Hexapod Machine Tools. Manufacturing Science and Technology 2, ASMEGoogle Scholar
  9. Zhuang H 1997 Self-Calibration of Parallel Mechanisms with a Case Study on Stewart Platforms. IEEE Transactions on Robotics and Automation 13 (3)Google Scholar

Copyright information

© Springer-Verlag London Limited 1999

Authors and Affiliations

  • M. Weck
    • 1
  • M. Giesler
    • 1
  • A. Meylahn
    • 1
  • D. Staimer
    • 1
  1. 1.Laboratory for Machine Tools and Production Engineering (WZL)Aachen University of TechnologyAachenGermany

Personalised recommendations