Generalized Kinematic Modeling of Reconfigurable Machine Tools

To accommodate frequent changes in product design and to be able to process a family of products in a timely and cost-effective manner, the next generation of machine tools should be reconfigurable. Reconfigurability enables reduction not only in machine design lead time but more significantly a reduction in machine set-up and ramp-up time. The essential characteristics of Reconfigurable Machine Tools (RMTs) include modularity, convertibility, flexibility, and cost-effectiveness. This paper presents a mathematical representation scheme using screw theory that lays the foundation for systematic design of reconfigurable machine tools. The motion characteristics of a set of desired machining tasks as well as stored library of machine modules are captured in a common representation scheme. A simple design example to illustrate the application of this methodology for systematic selection and synthesis of reconfigurable machine tools is presented.