Path planning for motion control of hexapod machines

Zhiming Ji, Zhenqun Li

Research output: Contribution to conferencePaperpeer-review


The dramatic departure in structure of the hexapod machine tools from the traditional five-axis machines leads to the question: can the planning and control methods for the traditional CNC machines be used for the hexapod machine tools? We studied several tool motion characteristics, such as Jocabian matrices, path tracking errors and the extra degree of freedom (e-DOF), and found that the traditional five-axis planning methods cannot take into consideration of the kinematics performance variation and the e-DOF in a hexapod. A kinematics-based tool path planning scheme for the hexapods is therefore proposed. It combines the traditional tool path planning with the kinematic condition optimization. The optimization is a two-step process. First a high accuracy zone of the workspace is identified globally for the placement of the part. Then a set of 5-DOF tool paths is generated and extended to a set of 6-DOF tool paths based on the local planning of eDOF. Finally the relationship between the e-DOF and the stiffness of the Hexapods, another factor in the use of e-DOF, are discussed.

Original languageEnglish (US)
Number of pages8
StatePublished - 2001
Event2001 ASME International Mechanical Engineering Congress and Exposition - New York, NY, United States
Duration: Nov 11 2001Nov 16 2001


Conference2001 ASME International Mechanical Engineering Congress and Exposition
Country/TerritoryUnited States
CityNew York, NY

All Science Journal Classification (ASJC) codes

  • General Engineering


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