Hybrid machine tools are suitable for machining structural components with complex geometries due to their merits of flexible posture adjustment and quick dynamic response. This paper proposes a novel hybrid machine tool with 5-axis machining capability by integrating a newly invented redundantly actuated parallel mechanism (RAPM). For this purpose, a screw theory based type synthesis methodology is proposed to synthesize a RAPM with a topology of 2PRU-(2PRU)R. The synthesized RAPM is conceptually designed as a spindle head, which is characterized by symmetrical limb arrangement and usage of only PRU-type kinematic chains. The spindle head is further integrated with a two-sliding gantry to construct a novel 5-axis hybrid machine tool. The kinematic performances of position and singularity of the proposed hybrid machine tool are analyzed. After then, a laboratory prototype of the hybrid machine tool is engineered and an open-architecture numerical control system is developed to perform 5-axis machining tasks. The large orientation capacity and 5-axis machining capability of the hybrid machine tool are verified by some motion experiments and machining tests.
A novel hybrid machine tool integrating a symmetrical redundantly actuated parallel mechanism: Design, kinematics, prototype and experiment
2022-10-01
Mechanism and Machine Theory , 176 , Article 105013. (2022)
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
Forward Kinematics and Workspace Determination of a Novel Redundantly Actuated Parallel Manipulator
DOAJ | 2019
|Homing Strategy for a Redundantly Actuated Parallel Kinematic Machine
Online Contents | 2008
|Novel Fault-Tolerance Indices for Redundantly Actuated Parallel Robots
Online Contents | 2017
|Kinematic Calibration for Redundantly Actuated Parallel Mechanisms
Online Contents | 2004
|Modeling, simulation and control of redundantly actuated parallel manipulators
BASE | 2007
|