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Design and Implementation of a PKM Based 5-Axis Reconfigurable Machine

[+] Author Affiliations
Peter E. Orban, Zhuming M. Bi, Y. T. Lang, Marcel Verner

National Research Council of Canada

Paper No. IMECE2005-81277, pp. 691-697; 7 pages
  • ASME 2005 International Mechanical Engineering Congress and Exposition
  • Manufacturing Engineering and Materials Handling, Parts A and B
  • Orlando, Florida, USA, November 5 – 11, 2005
  • Conference Sponsors: Manufacturing Engineering Division and Materials Handling Division
  • ISBN: 0-7918-4223-1 | eISBN: 0-7918-3769-6
  • Copyright © 2005 by National Research Council of Canada


In this paper we present the design and implementation of a parallel kinematics based reconfigurable machine. The machine utilizes a Tripod based module with 3 degrees-of-freedom combined with a linear X-Y stage and gantry system for 5-axis machining. The tripod module uses a unique passive link mechanism with constant length leg actuators. This architecture offers good stiffness and high accuracy. The gantry system itself is reconfigurable, allowing for changing the working characteristics of the machine. The control system is based on open architecture principles. Corresponding to the mechanical reconfiguration, the control system also needs to be reconfigured to reflect the actual state of the machine. Mechanical reconfiguration also brings with it the need to verify the accuracy of the new configuration. Also discussed in the paper is the calibration methodology that ensures high production quality in each configured mode of the machine.

Copyright © 2005 by National Research Council of Canada
Topics: Machinery , Design



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