Development of a novel parallel manipulator based machine tools

Author

Wen-jia, Chen ; Ming-yang, Zhao ; Li-jin, Fang ; Zhi-gang, Xu

Author_Institution

Robotics Lab., Acad. Sinica, Shenyang, China

Volume

2

fYear

2002

fDate

2002

Firstpage

895

Abstract

A new type of 5-axis parallel machine tool based on a novel 4 degrees-of-freedom hybrid parallel platform manipulator with base mounted prismatic actuators is presented. This machine tool is different from the Stewart platform type parallel machine tool in that its feed motion in X-direction is realized by the worktable on which the workpiece is fixed instead of the movable platform of the manipulator. Due to this special architecture, the workspace in X-direction of the new machine tool is greatly enlarged. Its rigidity is higher because of the adaptation of a gantry structure. This machine tool is controlled by a PC-based NC system in simultaneous 5-axis control mode.

Keywords

computerised numerical control; machine tools; manipulator kinematics; motion control; computerised numerical control; forward kinematics; gantry structure; hybrid parallel platform; inverse kinematics; machine tools; parallel manipulator; prismatic actuators; Control systems; Feeds; Kinematics; Machine tools; Manipulators; Manufacturing; Milling machines; Parallel machines; Parallel robots; Robotics and automation;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2002. Proceedings of the 4th World Congress on

Print_ISBN

0-7803-7268-9

Type

conf

DOI

10.1109/WCICA.2002.1020704

Filename

1020704