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Optimization of a crossbar parallel machine tool based on workspace and dexterity
Fang Xifeng,Zhang Sichong,Xu Qinhuan,Wang Tongyue,Liu Yuanwei,Chen Xiaogang 대한기계학회 2015 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.29 No.8
Increasing workspace and improving dexterity are important tasks for the design of parallel machine tools. The workspace of a crossbarparallel machine tool with constraints is obtained by using a 3D search method based on inverse kinematics. The new Jacobian matrixof the machine is also derived by using the natural coordinate method. Dexterity distribution of the machine tool is obtained on the basisof the workspace and the new Jacobian matrix. Influences of the structural parameters on the workspace volume index (WVI) and globaldexterity index (GDI) are analyzed. Structural optimization is conducted by treating the WVI and GDI as the global optimization goals. Unlike the initial data, the optimized results increased by 0.43 and 0.34 times.