A novel 5-DOF fully parallel kinematic machine tool

Forward kinematic problem of 5-RPUR parallel mechanisms (3T2R) with identical limb structures

“…This result is consistent with results found for the rotational parameters, x, in Eq. (11)(12)(13)(14) which are all free of any design parameters, i.e., l i and ρ i and are all expressions in joint space, t i . In other words, five RPUR limbs share a common rotational constraint as confirmed by the type synthesis performed for such a mechanism in [10]: The mechanism has a rotational constraint about the axis defined by e 1 × e 2 .…”

“…(11)(12)(13)(14)(15)(16)(17)(18), by eliminating passive variables, i.e., t i , i = 1, …, 4, in order to obtain the FKE of the principal limb with respect to Study's parameters and design and input parameters, ρ p and l p . In fact, a rigid body is fully described by six constraint equations in space.…”

“…Geometrically, the 3T2R motion can be made equivalent to guiding a combination of a directed line and a point on it. Accordingly, the 3T2R mechanisms can be used in a wide range of applications for a point-line combination including, among others, 5-axis machine tools [11,12], welding and conical spray-gun. In medical applications that require at the same time mobility, compactness and accuracy around a functional point, 5-DOF parallel mechanisms can be regarded as a very promising solution [13].…”

DeLiA: a New Family of Redundant Robot Manipulators

“…Furthermore, many practical applications do not require the six degrees of freedom of a general Gough-Stewart platform, particularly five-degrees-of-freedom parallel manipulators had been proposed, among simple pointing devices, as multi-axis machine tools (Bohez, 2002;Zheng et al, 2005;Gao et al, 2005Gao et al, , 2006, bio-mechanical devices (Zhu et al, 2008;Gallardo-Alvarado, 2010) or new architectures for medical applications (Vlachos & Papadopoulos, 2005;Piccina, 2009). With these considerations in mind and with the motivation that not always is essential a pure parallel kinematic topology, this work is intended to be a viable option to the development of a new class of five-degrees-of-freedom robots with a nearly parallel kinematic architecture, preserving the advantages of serial-parallel manipulators but with the possibility to mount all the active limbs on the fixed platform.…”

Stiffness analysis and experiment of a novel 5-DoF parallel kinematic machine considering gravitational effects

“…In the high-precision machining of aerospace structural components with large size, thin wall and complex surface, a new type of five degree-of-freedom (DoF) numerical control machine, referred to as parallel kinematic machine (PKM), has been paid more and more attention from both academia and industry [1][2][3][4]. As an important complement of traditional 5-DoF numerical control machines with serial topology structures, the parallel kinematic machines (PKMs) with closed topology structures have several advantages in terms of high stiffness, good accuracy/dynamic performance, large load-weight ratio and easy integration with long guideways [5][6][7].…”