Workspace Analysis of a 5-Axis Parallel Kinematic Machine Tool

Parallel kinematics machines (PKM) are interesting alternative designs for high-speed machining applications since they offer several advantages over their serial counterparts like high stiffness, improved dynamic characteristics, high accuracy and high structural rigidity. Conventional parallel kinematic machines are designed to have 3-DOF; however, in this work, two additional degrees of freedom have been incorporated with the movement of the base in X- and Y-direction. The configuration of 3-DOF parallel manipulator used here is 3-RPS. This paper presents a type of 5-DOF parallel kinematic machine tool architecture on which the parallel manipulator with 3-DOF sliding on the frame structure of machine tool is responsible for the translation along X-direction and Y-direction. Workspace analysis of this mechanism is proposed so as to know the reach of the tool for complex machining operations. Quantitative improvement in reachable volume over conventional 3-DOF is presented.