Abstract

A 5-Degree of Freedom (DOF) 5-UPS/PRPU fully parallel machine tool (PMT) was introduced. Based on the original edition of CNC system, the concise motion control algorithm was deduced by analyzing the identical feature between two Euler angles of 5-UPS/PRPU PMT and two swing angles of conventional 5-axis cutter swing machine tool. Then by using the formula of the inverse kinematic solution of the PMT, the length of the driving axis in the joint space can be calculated. The new CNC system software based on this algorithm was developed and it has been applied successfully to the 5-DOF PMT in our laboratory.

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