Kinematic modeling of hybrid parallel serial five-axis machine tool
- Resource Type
- article
- Authors
- Milutinović Milan; Slavković Nikola; Milutinović Dragan
- Source
- FME Transactions, Vol 41, Iss 1, Pp 1-10 (2013)
- Subject
- hybrid mechanism
kinematic modeling
machine tool
Engineering (General). Civil engineering (General)
TA1-2040
Mechanics of engineering. Applied mechanics
TA349-359
- Language
- English
- ISSN
- 1451-2092
2406-128X
Compared with serial structured machine tools and robots, parallel kinematic machine tools and robots have many advantages. Many different topologies of parallel mechanisms with 3-6 DOF have been used. Considering that some limitations are indeed due to the use of parallel mechanisms, it is appealing to investigate architectures based on hybrid arrangements where serial and parallel concepts are combined. This paper is aimed at presenting a study on the kinematic modeling of the Tricept based five-axis vertical machine tool. Since the machine comprises 3-DOF parallel structure and 2-DOF serial wrist direct and inverse kinematics also comprise serial and parallel part. Inverse kinematics is solved analytically while direct kinematics consists of an analytical and numerical part. Based on machine inverse kinematics, the workspace has been analyzed in order to select machine prototype design parameters.