Design of Main Movement Module of a Parallel Machine Tool
Fan Shuncheng,Zhang Shunxin,Gao Feng,Xu Xiaoyun,Zhang Jianjun
(School of Mechanical Engineering, Hebei University of Technology,Tianjin 300130,China)

Abstract: A model of a new modularization parallel machine tool, whose main movement is based on parallel structure, is put forward in this paper. By use of space model theory, kinematic charcteristics of a 2ª²DOF planar structure are studied, and positive and negative solutions to machine kinematics are given. Jacobean matrix of the machine kinematics is analyzed and three types of singularity position of machine are gained. Then, the relation of the singularity position, workspace, dimension model and relative length of each poleis analyzed. It offers theories to design parallel machine tools with three or more shafts.
Keywords: parallel machine tool;singularity position;modularization;space model