Development of a Parallel Kinematic device Integrated into a 3-axis Milling centre

Abstract

Parallel kinematic machines (PKM) are R&D topic in many laboratories but many of them, unfortunately, have no PKM. To gain practical experience, especially in programming and the use of PKM, the parallel kinematic device integrated into 3-axis milling machine has been developed. The device is considered as the low cost but functional simulator of 3D parallel kinematic machine. The device is based on several developed mechanisms with constant strut lengths and linear joints and is driven and controlled by a conventional 3D CNC machine tool. The paper describes device design, modelling approach, algorithms and software for the control and programming in the same way as in serial machine tools.