High-Precision Five-Axis Machine for High-Speed Material Processing Using Linear Motors and Parallel-Serial Kinematics

Sameh Refaat, Jacques M. Herve, Saeid Nahavandi, Hieu Trinh
2006 2006 IEEE Conference on Emerging Technologies and Factory Automation  
The paper describes some details of the mechanical and kinematics design of a five-axis mechanism. The design has been utilized to physically realize an industrial-scale five-axis milling machine that can carry a three KW spindle. However, the mechanism could be utilized in other material processing and factory automation applications. The mechanism has five rectilinear joints/axes. Two of these axes are arranged traditionally, i.e. in series, and the other three axes utilize the concept of
more » ... the concept of parallel kinematics. This combination results in a design that allows three translational and two rotational two-mode Degrees Of Freedom (DOFs). The design provides speed, accuracy and cost advantages over traditional five-axis machines. All axes are actuated using linear motors. "Asymmetrical three-DOFs rotational-translational parallel-kinematics mechanisms based on Lie-group theory", European Journal of Mechanics A/Solids, available online at www.sciencedirect.com , Dec 2005. − Refaat,S., Hervé, J.M., Nahavandi, S. and Trinh, H., "Kinematics of a Two-Mode over-constrained three-DOFs rotational-translational linear-motor-based parallelkinematics mechanism for machine tool applications", in preparation, 2006. − Refaat,S., Nahavandi, S. and Trinh, H., "Control of a Two-Mode over-constrained three-DOFs rotationaltranslational linear-motor-based parallel-kinematics mechanism for machine tool applications", in preparation, 2006. − Hervé, J.M., Uncoupled actuation of pan-tilt wrists, IEEE Transactions on Robotics, 2006. − M. Carricato and V. Parenti-Castelli, "A novel fully decoupled two-degrees-of-freedom parallel wrist," Int. J.
doi:10.1109/etfa.2006.355381 dblp:conf/etfa/RefaatHNT06 fatcat:l3pzkk2bcrah5i45sjqrmscc2m