In Situ Machine Tool Walking on Large Workpieces: Improvement of Machining Accuracy by Compensating Orientation Dependent Position Error

For manufacturing and repair operations involving large parts, such as aircraft components and wind turbines, in situ machine tools have been recognized as an effective solution. This study introduces a new design concept for a machine tool capable of walking on large workpieces, along with a geometrical error model that independently accounts for the effects of gravitational load. Its distinctive serial kinematic mechanism provides both high flexibility for walking and a large work envelope for machining. The feasibility of this design concept is validated through evaluation tests on mobility and cutting, demonstrating the accuracy typically required in aerospace manufacturing.