On Conceptual Design of 5-axis Parallel Kinematic Machines using kinetostatic modelling approach

摘要

With the increasing demands on accuracy, stiffness, high speed, and larger capacity for current machine tools, more and more researchers are interested in using parallel kinematic machines (PKMs). In the paper, a function structure of 5-axis machine tools is developed and represented. It is a new type of 5-axis parallel kinematic machines with prismatic actuators whose degree of freedom is dependent on a constraining passive leg connecting the base and the platform. The solution principles and their structures in accordance with the task and the specification is established with a kinetostatic model used for the analysis of the structural rigidity and accuracy of the 5-axis parallel kinematic machines. The geometric model of the 5-axis parallel kinematic machines is first introduced. Then, the inverse kinematic and velocity equations are given for both rigid-link and flexible-link mechanisms. Additionally, the design optimization of 5-axis parallel kinematic machine is conducted with genetic algorithms. Finally, some results are concluded.