Hexapod Machine Tool With Detachable Legs
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Solution Overview
Problem
Conventional hexapod machine tools are large and unsuitable for in-situ machining of large workpieces due to their fixed base platform, limiting their use in confined spaces and on non-flat workpiece geometries.
Innovation Solution
A machine tool with individually attachable legs to the workpiece surface, eliminating the need for a fixed base platform, allowing for compact, flexible, and versatile operation on various workpiece geometries, using telescopic and hinged legs with suction cups or other attachment means, and featuring a hexapod architecture for parallel kinematic control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If a fixed base platform is used to provide a stable reference for the extensible legs, then the machine tool achieves stability and positioning accuracy, but the machine tool becomes large and unsuitable for in-situ machining of large workpieces
Solution Approach 1:
The fixed base platform is extracted and removed from the system. Instead of having the legs attach to a separate base, the workpiece itself becomes the mounting surface. This eliminates the need for a large base platform while maintaining positioning accuracy through direct attachment to the workpiece.
Solution Approach 2:
The workpiece serves dual functions: it is both the object to be machined and the mounting base for the machine tool. This multi-functionality eliminates the need for a separate base platform, reducing overall machine size while maintaining stability.
2Stability of the object's composition
If a fixed base platform is used to support the machine tool, then the machine tool achieves structural stability, but it cannot be used on non-flat workpiece geometries or in confined spaces
Solution Approach 1:
The attachment configuration becomes dynamic and adaptable rather than fixed. The legs can be independently positioned and attached at different locations on the workpiece, allowing the machine to adapt to various geometries including curved and angled surfaces while maintaining structural stability through proper attachment points.
3Volume of moving object
If the legs are individually attached to the workpiece surface, then the machine tool becomes compact and flexible for in-situ machining, but the attachment stability and positioning reference may be compromised
Solution Approach 1:
The machine tool is segmented into multiple independent legs that can be individually attached to the workpiece. This segmentation allows for compact configuration while distributing the attachment load across multiple points, enhancing overall attachment stability and providing redundant positioning references.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables machining of large workpieces with complex geometries in confined spaces, providing maximum access and stability, and allowing for flexible attachment configurations to optimize the working envelope, enhancing the machine's versatility and suitability for in-situ machining.
Implementation Method 1
the attachment feet comprise suction cups for removably attaching the legs to the workpiece
Data Source
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AI summary
A machine tool has a tool holder (14) mounted to a platform (9), and a plurality of legs (1) for connecting the platform (9) to a workpiece. Each leg (1) has joint systems (8a, 8b) which allow each leg (1) to rotate relative to the platform (9) and the workpiece and are also actuatable to alter the inter- joint distance. By alterations in the inter- joint distances of the legs (1) the position and orientation of the tool holder (14) relative to the workpiece is controllable. Each leg also has an attachment foot (4) for removably attaching the leg (1) to the workpiece. The provision of separate attachment feet (4) avoids the need for a dedicated base for the machine tool so that it can be used in-situ and in confined and obstructed working environments.