Functional simulator of 3-axis parallel kinematic milling machine

Abstract

Parallel kinematic machines (PKM) are research-and-development topic in many laboratories although many of them, unfortunately, have no PKM at all. Therefore, the use of low cost but functional simulator of a 3-Axis parallel kinematic milling machine is suggested as a help to acquire the basic experiences in the PKM field. The idea is based on the possibility that the simulator could be driven and controlled by a conventional 3-Axis Computer Numerical Control machine tool (CNC). The paper describes the development procedure of a simulator including the selection of a corresponding parallel mechanism, kinematic modelling, and the programming algorithm. The functional simulator idea has been verified by successful making of some standardized test pieces of soft material, under full operational conditions.