Kinematic Modelling of Hybrid Parallel- Serial Five-Axis Machine Tool

Compared with serial structured machine tools and robots, parallel kinematic machine tools and robots have many advantages. Many different topologies of parallel mechanisms with 3-6 DOF have been used. Considering that some limitations are indeed due to the use of parallel mechanisms, it is appealing to investigate architectures based on hybrid arrangements where serial and parallel concepts are combined. This paper is aimed at presenting a study on the kinematic modelling of the Tricept based five-axis vertical machine tool. Since the machine comprises 3-DOF parallel structure and 2-DOF serial wris,t direct and inverse kinematics also comprise serial and parallel part. Inverse kinematics is solved analytically while direct kinematics consists of an analytical and numerical part. Based on machine inverse kinematics, the workspace has been analysed in order to select machine prototype design parameters.