A study on motion of machine tools%26apos; hexapod table on freeform surfaces with circular interpolation

作者：Qazani Mohammad Reza Chalak^*; Pedrammehr Siamak; Nategh Mohammad Javad

来源：International Journal of Advanced Manufacturing Technology, 2014, 75(9-12): 1763-1771.

DOI：10.1007/s00170-014-6264-y

• Hexapod
• Tool path programming
• Improved Tustin approach
• Nonlinear error
• Freeform surface

Accuracy is greatly affected by nonlinear motion of hexapods. This need is more obvious when these mechanisms are used in machining environments where precision and surface qualities are of critical importance. In this paper, comprehensive algorithm for hexapod tool path programming is developed. Using C#.Net, this algorithm is developed based on circular motion and rotation of the table which has the capability of checking nonlinear error and keeping it in a controlled limit as well. Improved Tustin algorithm is used for interpolating circular path. To evaluate the accuracy of the developed algorithm on a freeform surface, a turbine blade is scanned, and its CAD model is developed. Taking zigzag strategies, movement on turbine blade surface is approximated with smaller circles using the algorithm presented in this paper. The output accuracy resulted from interpolation algorithm for passing on turbine blade surface is studied in SimMechanics of MATLAB software. Using Total Station camera, motion path of two turbine blades with different radius curves on the hexapod table is experimentally obtained. Finally, it can be stated that the developed algorithm based on circular interpolation has the capabilities of motion on freeform curves.

• 出版日期2014-12