KINEMATICS OF THE MULTI-AXIS CNC MILLING MACHINE TYPE PSK: HEXAPOD 3- AXIS CNC MACHINE

Abstract

The CNC machines with parallel kinematic structurehave been researched and developed in recent years. Before this time most of the CNC machines were designed with conventional open-chain kinematic structure. In this paper the author presents a solution for control of multiaxis hybrid CNC PSK machines combined 3-asix conventional CNC machine with parallel robot hexapod. The solution helps to get a better maneuverability, larger working space and to minimize not only orientation error but also location error of the tool during complex surfaces machining process by 5-axis CNC machine. Furthermore, the author proposes a method to turn the tool axis around a vector at the fixed point and also an algorithm for determination kinematic control to avoid collision of the limbs while Hexapod module with spindle orientating tool axis in machining complex spatial surface. Matlab program to determine control parameters for machining elipsoidal surface by the ball-end finger-tool was also presented in this paper.