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Motion and Operation Planning of Robotic Systems pp 147–192Cite as

Path Planning Kinematics Simulation of CNC Machine Tools Based on Parallel Manipulators

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Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 29))

Abstract

Since the very successful application of parallel robots in material handling, many projects attempted to implement the Gough platforms as milling machine manipulators with limited success mainly achieving roughing. The displacement of the milling tool should meet surface finish requirements while increasing tool feedrate in order to improve productivity. This work introduces geometric formalization of surface finish which is more realistic then classic error calculations. This research work also proposes an off-line simulation tool analysing the milling task feasibility using a robot constituted by a general hexapod parallel manipulator, controlled by a typical CNC controller implementing classic position based algorithms where joint space polynomial interpolation is utilized. High and very high speed milling simulation results show the implementation of linear and third order interpolation between the actuator set-points calculated from the CAD/CAM computed end-effector or tool set-points. Linear interpolation is not sufficient for high speed milling and then third order interpolation reach the required surface finish at feasible CNC sampling rates.

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Acknowledgments

This research work was produced by the author during his PhD and with special funding from the Lorraine Region, the INRIA and CMW-Marioni. It has helped French hexapod manufacturers to fine-tune their milling machines.

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Authors and Affiliations

  1. High Performance Robotics Laboratory, Memorial University of Newfoundland, St-John’s Campus, St-John’s, NL, Canada

    Luc Rolland

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  1. Luc Rolland
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Correspondence to Luc Rolland .

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Editors and Affiliations

  1. University of Cassino, Cassino, Frosinone, Italy

    Giuseppe Carbone

  2. Engineering School, University of Huelva, La Rábida, Huelva, Spain

    Fernando Gomez-Bravo

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Rolland, L. (2015). Path Planning Kinematics Simulation of CNC Machine Tools Based on Parallel Manipulators. In: Carbone, G., Gomez-Bravo, F. (eds) Motion and Operation Planning of Robotic Systems. Mechanisms and Machine Science, vol 29. Springer, Cham. https://doi.org/10.1007/978-3-319-14705-5_6

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  • DOI: https://doi.org/10.1007/978-3-319-14705-5_6

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