The paper focuses on the TIARA Hexapod — a parallel kinematic machine tool that is being developed at McMaster University. The design uses fixed length struts, and an inclined layout for the motion axes that results in the mechanism resembling a ‘tiara’. In addition to the novelty of the design, these characteristics have several advantages from both a performance and economic perspective. The paper presents an overview of the development program for this machine tool, discussing issues related to design, modelling, inverse and forward kinematics, workspace, and dynamics analysis. Later sections of the paper detail the kinematic and dynamic models developed for the TIARA machine tool, and demonstrate their use for workspace analysis and the specification of actuator requirements.

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