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