Improved Kinematic Modeling & Motion Control of the Tiara Hexapod Parallel Kinematic Machine Tool

TL;DRAbstract

A Hexapod is a novel generation machine tool based on parallel kinematic structures. Due to its potential capabilities for high dimensional accuracy, high structural rigidity and high-speed capacity, it is regarded as the most radical change in the design of machine tools in the last century. However, due to its short development history and lack of wide industrial application, it poses both theoretical and technical challenges. Solutions to overcome its obvious weakness are not yet available. Design tools, commercial motion controllers capable of dealing with non-linear dynamics and coupling effects, and maintenance topics related to measurement, calibration and accuracy evaluation are still open issues. A hexapod, termed the Tiara hexapod, is being developed at the McMaster Manufacturing Research Institute (MMRI) at the McMaster University. The Tiara hexapod has fixed length struts and movable base joints. It is designed to be a milling machine. This thesis presents improvements of t

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