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Development of parallel kinematic device integrated into a 3-axis milling centre to enable multi-axis cutting processes

Development of a parallel kinematic machine based on 3 linear motions. As linear motors, the three ones of a 3-axis cnc milling centre are used. Project includes also the elaboration of an off-line programming /simulation software for various multi-axis cutting processes.

Parallel kinematic machines are used more and more in many industrial processes. In the frame of the present project the development of a parallel kinematic device, which can be integrated into a CNC (Computer Numerical Control) milling centre is investigated. The application of such a parallel kinematic device enables the use of a 3-axis CNC machine tool in transformed axis manufacturing operations. The proposed procedure could be applied in many types of processes, it's just a question of changing the mount in the end-effector tool and the parameters of the related software. The proposed project includes the following steps: 2.1.1 Bounds definition of the desired geometry and shape of the parallel kinematic machine. 2.1.2 Definition of the motion ability of the parallel kinematic machine, during its operation, according to the kinematic characteristics of the CNC MILLING CENTRE. 2.1.3 Development of a model of the parallel kinematic machine, with the aid of a motion simulation software, as well as geometry optimisation, in order to approach the initially defined geometry, without overstepping the motion ability limits of the mechanism. 2.1.4 Kinematic and dynamic magnitudes as well as development of loads on the mechanism calculation, using software of motion simulation and FEM (Finite Element Method). 2.1.5 Geometry re-determination through the minimization of step 2.1.4 loads, verifying the validity of steps 2.1.1 and 2.1.2. 2.1.6 Manufacturing of parallel kinematic machine parts according to the exported results and rules of steps 2.1.1-2.1.5. 2.1.7 Parallel kinematic machine parts connection and assembly of the total parallel kinematic machine on the 3-axis CNC milling centre. 2.1.8 Software development for the off-line programming, of the parallel kinematic machine and its end-effector, through the milling centre control unit. Simultaneously the software simulates the motions of parallel kinematic machine and milling centre and finally generates the NC (Numerical Control) code for the milling centre control unit. 2.1.9 Specimens manufacturing using the developed software and the assembled parallel kinematic machine. 2.1.10 Quality control of processed pieces, which includes geometric check through a coordinate measuring machine (CMM) and the surface roughness control through a roughness measurement device, in order to verify the prescribed geometry. 2.1.11 Possible editing of previous steps, for the further optimisation of the processed specimens, the developed software or the parallel kinematic machine parts. 2.1.12 Operational control of the proposed machine in a laboratory environment as well as in a real environment. Keywords: parallel kinematic machine, robot, milling centre.
Acronym: 
PAKICUT
Project ID: 
3 239
Start date: 
01-01-2004
Project Duration: 
24months
Project costs: 
200 000.00€
Technological Area: 
Machining (turning, drilling, moulding, milling, planing, cutting)
Market Area: 

Raising the productivity and competitiveness of European businesses through technology. Boosting national economies on the international market, and strengthening the basis for sustainable prosperity and employment.