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An Approach for Computing the Compliant Workspace of Grinding Head with Parallel Structure

An approach for computing the compliant workspace of parallel mechanisms is proposed in this paper. Different from the general method that the workspace is defined as the reachable space of a mechanism, the proposed method is based on the characteristics of grinding machining process. Specifically, the compliant workspace is defined as the touchable space, that the grinding plane is tangent to the surface of workpiece. Therefore, the compliant workspace is always related to the individual workpiece, which is not only the initial property of a mechanism but also a task oriented workspace. Two different approaches to calculate the compliant workspace are given, and the efficient one has been chosen. The compliant workspace of a parallel grinding head with 3-RRS structure has been analyzed. The proposed compliant workspace can assist the design of parallel grinding robots.