Desktop 3-axis parallel kinematic milling machine

• DOI: 10.1007/s00170-009-2070-3
• Publication Date: 2009-05-04T20:47:39Z
• Authors: Milos Glavonjic; Dragan Milutinovic; Sasa Zivanovic; Zoran Dimic; Vladimir Kvrgic
• Keywords: Kinematics modeling; 0209 industrial biotechnology; Desktop milling machine; 02 engineering and technology; Parallel kinematic machines

Parallel kinematic machines (PKM) are still a research-and-development topic in many laboratories although many of them, unfortunately, have no PKM at all. Therefore, the use of a desktop educational 3-axis parallel kinematic milling machine is suggested as a help in the process of acquiring basic experiences in the field of PKM. The developed desktop educational 3-axis parallel kinematic milling machine is based on a newly developed 3-DOF spatial parallel mechanism. This paper describes the structure of the machine, modeling approach, and control and programming system based on PC Linux platform with real-time extension and EMC2 (the Enhanced Machine Controller) software system.