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2015 | OriginalPaper | Chapter

Path Planning Kinematics Simulation of CNC Machine Tools Based on Parallel Manipulators

Author : Luc Rolland

Published in: Motion and Operation Planning of Robotic Systems

Publisher: Springer International Publishing

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Abstract

Since the very successful application of parallel robots in material handling, many projects attempted to implement the Gough platforms as milling machine manipulators with limited success mainly achieving roughing. The displacement of the milling tool should meet surface finish requirements while increasing tool feedrate in order to improve productivity. This work introduces geometric formalization of surface finish which is more realistic then classic error calculations. This research work also proposes an off-line simulation tool analysing the milling task feasibility using a robot constituted by a general hexapod parallel manipulator, controlled by a typical CNC controller implementing classic position based algorithms where joint space polynomial interpolation is utilized. High and very high speed milling simulation results show the implementation of linear and third order interpolation between the actuator set-points calculated from the CAD/CAM computed end-effector or tool set-points. Linear interpolation is not sufficient for high speed milling and then third order interpolation reach the required surface finish at feasible CNC sampling rates.

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Title: Path Planning Kinematics Simulation of CNC Machine Tools Based on Parallel Manipulators
Author: Luc Rolland
Publisher: Springer International Publishing
Book: Motion and Operation Planning of Robotic Systems
Print ISBN: 978-3-319-14704-8

Electronic ISBN: 978-3-319-14705-5

Copyright Year: 2015
DOI: https://doi.org/10.1007/978-3-319-14705-5_6