Theoretical Study on a Reconfigurable Parallel Kinematic High Speed Drilling Machine

摘要

A new reconfigurable high speed drilling machine which is based on a planer parallel kinematic mechanism is developed and studied. The mechanism has two degrees of freedom and is driven by two linear motors which can provide both high speed drilling and fast point-to-point positioning. The location and orientation of the spindle is reconfigurable for drilling different parts in a part family. The paper first introduces the schematic mechanical structure, possible configurations and functionalities of the parallel kinematic machine (PKM). Then the paper focuses on the theoretical studies on the input motion planning for ideal drilling operation, input motion planning for fast and accurate point-to-point positioning, input power reduction by using a spring element, and dynamic compliance analysis. The results are useful for improving the dynamic performance of the machine. The whole paper aims at a better understanding of the performance and characteristics of the reconfigurable parallel kinematic high speed drilling machine and providing some design and evaluation methodologies.