Modelling, Simulation and Analysis of Angular Drilling Machine Using Parallel Manipulator Mechanism

This paper focuses on the modeling, simulation, and analysis of kinematics & force of a three Degrees Of Freedom (DOF) parallel manipulator that can be used in the applications such as drilling inclined holes, contour milling and angular machining etc. The entire arrangement of three Degrees of freedom parallel manipulator is modeled using 'ADAMS' software package and simulation & analysis were carried out. The position kinematics of this mechanism have been carried out experimentally and the results are verified with the 'ADAMS' package results. An algorithm has been developed and a software program is written to find out the horizontal displacement of nut and the necessary cylinders to be actuated for the required angle of tilt of the platform. The torque and thrust force values during drilling were calculated and checked for withstanding in the moving platform.. From the ADAMS package, the forces acting in the links and joints can be found out graphically. From these force graphs, the stresses and strains acting in the three links before and after actuation are calculated and the results were analyzed.