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This paper clarifies the effects of workpiece location in a 5-axis-controlled machine tool from the viewpoint of Inverse kinematics including Manipulability measure: an index representing the variance of movement of end-effector in a serial linkage. Firstly the importance of Inverse kinematics in Computer Aided Manufacturing is emphasized and then Singularity and Manipulability measure are expanded for multiaxis-controlled machine tools. Secondly the computational results of Manipulability measure for different workpiece locations and tool orientations show that setting the workpiece in the centre of the rotary work-table is most preferable. Regardless of large differences in Manipulability measure at different locations, there were few differences of the resultant cutting force in machining experiments. Finally the brief conclusion is mentioned.

Effect of Workpiece Location on Manipulability Measure in 5-Axis-Controlled Machine Tools