A study on the kinematics and dynamics of a 3-DOF parallel machine tool

A new kind of 3-DOF parallel machine tool has been developed to apply in billet snag grinding by Northeastern University, China. It has the advantages of simple structure, higher stiffness, higher ratio of force-to-weight, larger working space, simple kinematics equations, no motion coupling and no singular pose. This robot can be used for grinding, milling, polishing and other machining process with suitable tools. In this paper, its structure and degree of freedom, the workspace, the kinematics and accuracy analysis, the static and dynastic analysis, the simple robot and its parameters are introduced.