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Optimal Control for Static Stiffness and Thermal Sensitivity of a Hexapod Machine Tool
Author(s) -
Henninger Christoph,
Eberhard Peter
Publication year - 2005
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.200510308
Subject(s) - hexapod , jacobian matrix and determinant , sensitivity (control systems) , stiffness , workspace , kinematics , machine tool , control theory (sociology) , thermal , machining , computer science , structural engineering , engineering , mechanical engineering , robot , control (management) , mathematics , physics , artificial intelligence , classical mechanics , electronic engineering , meteorology
Beneath many conceptual advantages, parallel kinematic manipulators suffer some disadvantages which complicate their operation as machine tool. One of them is their inhomogeneous stiffness characteristic within the workspace, another is the high thermal sensitivity of their static accuracy due to the large strut lengths. Both properties, stiffness and thermal sensitivity, depend strongly on the configuration of the manipulator. As for machining purposes only five degrees of freedom are necessary, the 6th axis can be utilized to choose an optimal configuration with respect to stiffness or thermal sensitivity. In this contribution, an optimization method based on Jacobian matrix analysis is introduced and demonstrated for a model of the hexapod milling machine HEXACT. (© 2005 WILEY‐VCH Verlag GmbH & Co. KGaA, Weinheim)