Effects of design dimensions on the driving force variation of a hybrid TRR-XY parallel kinematic machine tool

Using parallel-link mechanism as the basic structure of the parallel kinematic machine (PKM) tool is a new design concept and has become one of the most important research fields, attracting many previous researchers. Research on the actuator driving force variation of a PKM tool is essential for the applications of a PKM tool to real machining processes. For machining a component, the smaller actuator driving force required means that the PKM tool has a higher machining performance. To improve the machining performance, understanding of the required actuator driving is very important. A generalized force analysis of the developed system was obtained using the Denavit-Hartenberg (D-H) notation method. The force reactions on the joints and actuator driving forces are obtained on the basis of various cutter locations and a given external cutting force. The prediction of the cutter location with the singularity condition can be also obtained on the basis of the infinite force of the joints. The geometry relationship between the tool platform and the links is adopted to verify the singularity conditions of the system. The driving force variation of the hybrid TRR-XY five-degree-of-freedom machine tool is further investigated.