Motion Plan of a Parallel Kinematic Machine Based on Stiffness Control

This paper proposes a design for a machine tool based on a parallel kinematic manipulator with three degrees of freedom, including rotations about x and y axis and translation along z axe. Based on the investigated displacement and inverse kinematics, the system stiffness of the parallel manipulator is conducted. Then in order to observe the highest system stiffness single and multi objective optimizations are performed in terms of rotation angles about x and y axis and translation displacement along z axe. Finally, a case study of tool path planning is presented to demonstrate the application of stiffness mapping.Copyright © 2010 by ASME