Optimal trajectory planning for a hexapod machine tool during contour machining

This paper addresses the problem of optimal trajectory planning for Stewart platform based machine tools. The objectives are to maximize the stiffness of the structure and to minimize the force requirement of the actuators while satisfying the constraints of workspace and singularity. A computational algorithm for searching the optimum location of machining trajectory is developed. The algorithm is applied to two contour machining examples involving end milling. The simulation results of contour machining along the optimal trajectory are discussed.