Solution method of the kinematic function scheme for reconfigurable machine tools based on kinematic transformation

The kinematic function scheme is the basis of the reconfigurable machine tool (RMT) design. However, the diversity and complexity of the scheme are not conducive to the realisation of reconfiguration. To solve this problem, this paper proposes a solution method of the kinematic function scheme based on kinematic transformation. A tool-feature pose matrix is established based on an analysis of the relationship between machining surface features and machining tools to obtain a kinematic function expression that shows the kinematic requirements of the machine tool. The kinematic feature domain and the kinematic transformation domain are used to describe the motion type, motion direction and other information to describe the kinematic parameters of the module. The solution method of the kinematic function chain based on the kinematic decomposition and module combination is proposed to establish the kinematic function scheme of a RMT.