An optimally re-configurable planar Gough–Stewart machining platform

Previously the authors proposed and numerically tested a new fundamental numerical optimization methodology, for determining optimum feasible geometries of a planar re-configurable Gough–Stewart machining platform for kinematically prescribed tool paths. In this paper the method is validated from a practical point of view by its application to a real and specially designed test-model of the re-configurable device, in order to successfully execute representative practical prescribed tool paths. Details regarding the implementation of the necessary inequality constraints for avoiding mechanical interference are presented. Should the prescribed tool path exceed the capabilities of the device, a best-compromised design is yielded, and used to formulate a piece-wise execution strategy.