Abstract
Abstract Designing a machine tool that simultaneously satisfies the requirements of high rigidity, large dexterous workspace and small footprint is challenging. This paper proposed a redundant hybrid manipulator as a machine tool with these features. The design attempted to integrate the advantages of a PKM (parallel kinematic mechanism), SKM (serial kinematic mechanism) and redundancy mechanism. The geometric parameters of the manipulator were elaborately tuned to overcome intrinsic and extrinsic singularities with an optimal machining plane. High-accuracy and complex-shape machine results have been experimentally verified. The advantage is the ability to shorten the required strokes of the linear actuators effectively. This change not only improves the performance in terms of rigidity, accuracy and dynamics of the entire mechanism but also reduces the cost of the materials and the performance ratio. The second is to decrease the overall machinery-footprint-to-workspace ratio and lower the manufacturing cost via occupied floor space reduction and layout flexibility of the production line.
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