Abstract

In this paper, input-output transmission characteristics of the Eclipse, which is a parallel machine tool capable of 5 face rapid machining, are investigated. By splitting the weighted Jacobian matrix into two parts, the force and moment transmission characteristics together with the velocity and angular velocity transmission characteristics are analyzed. A new manipulability measure, which combines the volume of the manipulability ellipsoid and the condition number of the splitted Jcobian matrix, is proposed. Two link parameters, the ratio of upper and lower platforms' radii and the length of a supporting link of the Eclipse, are designed by applying the new manipulability measure derived. Computer simulations are provided.

Keywords

• parallel machine tool;
• manipulability;
• singular value decomposition;
• Jacobian matrix

• 병렬형 공작기계;
• 조작성;
• 특이값분해;
• 자코비안 행렬;