Position and orientation workspace atlas of a 6-UPS parallel machine tool

Abstract

To estimate the manufacturing ability of a 6-UPS cross links parallel machine tool BJ-04-02(A), workspace calculation was completed using numerical method, and corresponding atlas were pictured. Considering constrains of link length, revolving angle and interference, translational position space of cutter-platform was calculated under conditions that axes of motional coordinate system and inertial frame always were parallel respectively. Contour graphs of some discrete layers were extracted and maximal inscribed sphere, cylinder and block were calculated for above position space. The concept of orientation ability angle was redefined. For each point in above position space, orientation ability angle was calculated. The workspaces corresponding to different orientation ability angles were provided. The calculation results show that: when orientation ability angle is 20°, the volume ratio of workspace to machine tool for BJ-04-02(A) is approximately one twenty-fifth of Mikron five axis machine tool UCP800.