Design of a Reconfigurable Tripod Machine System and Its Application in Web-based Machining

This chapter introduces a reconfigurable tripod-based machine system. The objective is to develop such a machine system that is capable of performing different machining tasks with the same set of system modules. The tripod system can be applied to different light machining operations, such as deburring and polishing. It consists of core modules and customised modules. The core modules, such as linear actuators, spherical and universal joints, are essential to all tripod machines, whereas the customised modules, such as base, end-effector platforms and support legs, can be changed and optimised for a specific task. This chapter focuses on the design methodologies of the reconfigurable machine system, and the theoretical model development for analysing and synthesising machines with alternative configurations. An integrated toolbox has also been implemented to support the system reconfiguration design processes.