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Design, Reconfiguration, and Control of Parallel Kinematic Machines

  • Z. Ji
  • M. C. Leu
Conference paper
  • 701 Downloads
Part of the Advanced Manufacturing book series (ADVMANUF)

Abstract

Parallel kinematic machines have attracted worldwide interest due to their potential in revolutionizing machine tool technology and their potential in maneuvering precisely heavy objects such as fixtures and tool holders for complex tasks in assembly and disassembly operations. Our recent research activities on parallel kinematic machines have been concentrated on the following issues. (1) The concept of vertex space was introduced to decompose complex workspace problem into simpler subproblems. Through the vertex spaces, key design parameters are analyzed, and method for determining the placement of machines and tasks are developed. (2) Design and planning issues for effective and convenient reconfiguration were studied. To assist the leg placement, the concept of foot- placement space (EPS) is introduced, and a construction method for obtaining the foot-placement space has also been developed. (3) Application of 6-dof parallel kinematic machines in machining operations leads to some unique planning and control issues. Several of them are under investigation.

Keywords

Tool Path Parallel Manipulator Mobile Platform Spherical Joint Platform Manipulator 
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.

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Copyright information

© Springer-Verlag London Limited 1999

Authors and Affiliations

  • Z. Ji
    • 1
  • M. C. Leu
    • 1
  1. 1.Department of Mechanical EngineeringNew Jersey Institute of TechnologyNewarkUSA

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