Some Aspects of Parallel Manipulator for Machining Applications

The paper depicts the justification, design simulation and control of a lightweight parallel manipulator for performing varieties of operations mainly machining operation. The motor actuated parallel robot can be put to perform task like milling, drilling and other machining operation as well as it can be used as an ideal table for contour milling, angular drilling. The stepper motor controlled parallel manipulator is designed on the basis of rigidity over a specified work volume. Forward and inverse kinematics and acceleration analysis of the Stewart Platform has been carried out. Two performance criteria like mechanism workspace and manipulability have been studied. The major design goals of providing flexibility, a substantial work envelop, the required six degrees of freedom, light weight, low cost, portability and easy to use to create profiles on contoured surfaces have been achieved through simulation.