Design, reconfiguration, and control of parallel kinematic machines

Parallel kinematic machines have attracted worldwide interest due to their potential in revolutionizing machine tool technology and their potential in maneuvering precisely heavy objects such as fixtures and tool holders for complex tasks in assembly and disassembly operations. Our recent research activities on parallel kinematic machines have been concentrated on the following issues. (1) The concept of vertex space was introduced to decompose complex workspace problem into simpler subproblems. Through the vertex spaces, key design parameters are analyzed, and method for determining the placement of machines and tasks are developed. (2) Design and planning issues for effective and convenient reconfiguration were studied. To assist the leg placement, the concept of foot-placement space (FPS) is introduced, and a construction method for obtaining the foot-placement space has also been developed. (3) Application of 6-dof parallel kinematic machines in machining operations leads to some unique planning and control issues. Several of them are under investigation.