Basic Strategy for Trajectory Planning for a Coordinated Stewart Platform and XY-Table

• Main Authors: Shi-Jay Weng, 翁士傑
• Other Authors: Jih-Hua Chin
• Format: Others
• Language: zh-TW
• Published: 2003
• Online Access: http://ndltd.ncl.edu.tw/handle/50631129611846274909

碩士 === 國立交通大學 === 機械工程系 === 91 === Recently, effort on developing a new type of machine tool, based on Stewart platform has been made widely .It can generate complex three dimensional tool paths easily and achieve the request of high precision. But it has not enough workspace and has singularity problems. To improve these problems, the compound five-axis machine tools, composed of 6-DOF Stewart Platform and XY-Table, has been studied in this paper. Tradition Stewart platform always needs to exclude the singularity points from the workspace or take some singularity avoidances, but it often accumulates errors too large to lose the function of high precision. Now in this study, it is base on the Damped least-squares method to develop the strategy of Stewart Platform for avoiding singularity points. At the same time, the errors of singularity avoidances can be controlled by using XY-Table, and apply MCCPM (Multi-axis Cross-Coupled Pre-compensation Method) to reduce them. Finally, we simulate a trajectory on PC to verify the feasibility and prove that compound five-axis machine tool is better than singular Stewart platform manipulator.