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PAGE\*MERGEFORMAT22外文文献HindawiPublishingCorporationJournalofRoboticsVolume2011,ArticleID583072,9pagesdoi:10.1155/2011/583072ResearchArticleDevelopmentandControlofa5-AxisReconfigurableMachineToolZ.M.BiDepartmentofEngineering,IndianaUniversity—PurdueUniversityFortWayne,FortWayne,IN46805-1499,USACorrespondenceshouldbeaddressedtoZ.M.Bi,HYPERLINK"mailto:biz@ipfw.edu"biz@ipfw.eduReceived13January2011;Revised19March2011;Accepted4May2011AcademicEditor:YangminLiThedevelopmentofahybridreconfigurablemachinetoolhasbeenintroduced.Themachinetoolconsistsofatripod-basedparallelkinematicmachine(PKM)modulewiththreedegreesoffreedom(DOF)andaseriallinearX-YtablewithtwoDOF.ThePKMisinstalledonagantrysystemwhichiscapableofreconfiguringitspositionandorientation.Inthedesignoftripod-basedparallelmechanism,apassivelinkisusedtoenhancethestiffnessandincreasetheworkingload.Toavoidthebuildupoftheheatoftheextensiveactuation,threejointsareactuatedviatheactuatorswithaconstantlength.ThegeometriesofthePKMhavebeenoptimizedforthebestandhighestaccuracy.Inthispaper,itscontrolsystemandtheprototypingdevelopmentarefocused.Anopenarchitectureisapplied,thecontrolmethodologiesaredevelopedandvalidated,andthecorrespondingsoftwaretoolshavebeenimplementedforthesoftwarereconfigurationofthecontrolsystem.IntroductionTheglobalizationofthemanufacturingenvironmentbringsuncertaintiesandturbulencesofcustomers’requirementsandmanufacturingresources.Reconfigurablemanufacturingsystem(RMS)paradigmbecomesaneffectivemeanstoincreasethecompetitivenessandadaptabilityofmanufacturingsystems.AnRMSconsistsofmodularcomponentsthatcanbearrangedtomeetthemachiningneeds(recon-figuration)withminimalornonrecurringcost.Theabilitytoreconfiguremachinesallowsaquickramp-upandrobustnesstoadaptvariouschangesinadynamicproductionenviron-ment.Productionmachineryisusuallyspecializedandverycapitalintensive.OtherbenefitsofanRMSisitspotentialtoreducetheunitcostofmachining;thesamesystemcanservefordifferenttasksand,thus,increasetheu
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