Configuration synthesis of machining centers without tool change arms

The purpose of this paper is to generate all possible configurations of machining centers without tool change arms. The topology and motion characteristics of machining centers are discussed first. And, the tree-graph representation is applied for describing the topology structures of machining centers based on defined coordinate systems. Then, by applying the techniques of generalization and theory of graphs, generalized tree graphs and atlas of tree graphs are obtained. Finally, a methodology is presented for synthesizing the mechanisms of machining centers with required topology and motion characteristics. Machining centers without tool change arms up to seven links are synthesized. As the results, the mechanisms of machining centers with 6 and 7 links have 2 and 13 design configurations, respectively. Furthermore, the result of this paper provides a systematic approach for synthesizing spatial open-type mechanisms with motion requirements.