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Kinematicanddynamicsynthesisofaparallelkinematichigh

speed

drillingmachine

Abstract

Typically,theterm‘‘highspeeddrilling’’isrelatedtospindle

capabilityofhighcuttingspeeds.Thesuggestedhighspeeddrilling

machine(HSDM)extendsthistermtoincludeveryfastandaccurate

point-to-pointmotions.ThenewHSDMiscomposedofaplanarparallel

mechanismwithtwolinearmotorsastheinputs.Thepaperisfocusedon

thekinematicanddynamicsynthesisofthisparallelkinematicmachine

(PKM).Thekinematicsynthesisintroducesanewmethodologyofinputmotion

planningforidealdrillingoperationandaccuratepoint-to-point

positioning.Thedynamicsynthesisaimsatreducingtheinputpowerofthe

PKMusingaspringelement.

Keywords:Parallelkinematicmachine;Highspeeddrilling;Kinematicand

dynamicsynthesis

1.Introduction

Duringtherecentyears,alargevarietyofPKMswereintroducedby

researchinstitutesandbyindustries.Most,butnotall,ofthesemachines

werebasedonthewell-knownStewartplatform[1]configuration.The

advantagesoftheseparallelstructuresarehighnominalloadtoweight

ratio,goodpositionalaccuracyandarigidstructure[2].Themain

disadvantagesofStewarttypePKMsarethesmallworkspacerelativetothe

overallsizeofthemachineandrelativelyslowoperationspeed[3,4].

Workspaceofamachinetoolisdefinedasthevolumewherethetipofthe

toolcanmoveandcutmaterial.ThedesignofaplanarStewartplatform

wasmentionedin[5]asanaffordablewayofretrofittingnon-CNCmachines

requiredforplasticmouldsmachining.ThedesignofthePKM[5]allowed

adjustablegeomet