Design Of A Novel 5-DOF Parallel Machine Tool

Parallel Machine Tool(PMT),a new-style machine tool,complements the traditional NC machine tool perfectly.With the development of the PMT technology,this paper put forward a novel structure of 5-DOF parallel machine tool and focuses on the performance analysis and structural scheme design.The layout feature of novel 5-DOF parallel machine tool is introduced.The DOF of the parallel machine tool is solved.The direct and inverse kinematics equation of the parallel machine tool is inferred.A numerical example is given,then the formulae developed are proved.The working space of parallel machine tool is analyzed based on the structure constraints and the position counter-solution.The effects of partial structure parameters to the workspace shape and size are studied quantitatively.The analytic expressions of the velocity and force jacobian matrix were derived based on the inverse kinematic analysis.Then the kinematic transmission performance evaluation indices are defined based on the kinematic transmission equations and discussed in detail respectively.At last,by using the MATLAB,the distribution of the evaluation index are drawing on the workspace respectively,which can provide theoretical base for the design and control and application for the 5-DOF parallel machine tool.Based on the workspace of a new 5-DOF parallel machine tool,geometry parameter of the parallel mechanism is optimized which depend on the glob kinematics?the glob mechanics.A group of reasonable structure design scheme are confirmed according to the geometry parameter.The research on the structure of the novel 5-DOF parallel machine tool owns advantages such as simple structure,assembly good manufacturability,motion decoupling,easy to process and install.