The Analysis on the Processing Dexterity of a 3-TPT Parallel Machine Tool

This paper took a 3-TPT Parallel Machine Tool (PMT) as the objective of research. First, the kinematics equation and the Jacobian matrix were obtained according to the kinematics analysis of PMT and the condition number of Jacobian matrix was obtained further. Then, the analysis on the processing dexterity of PKM was conducted in terms of the condition number of Jacobian matrix as measurable index. Therefore, its distribution characteristics within the workspace were extracted. The result shows that this PMT is in effective processing dexterity. The conclusions based on the analysis have an important theoretical significance to the structural design, workspace design and inspection as well as kinematics simulation of this PMT.