Inverse kinematics for a novel hybrid parallel–serial five-axis machine tool

Yuan Lung Lai, Chien Chih Liao, Zi Gui Chao

Research output: Contribution to journalArticlepeer-review

20 Citations (Scopus)


Instead of obsessively emphasizing to interpolate more points from the linearization algorithm, the NC codes are recalculated to form a new path for the pivot that can avoid the discretization near the singularity points in this study. In previous studies, orientable-spindle machines were directly used to generate smooth tool paths traversing singular positions through inverse kinematics. In many characteristics and practices, PKMs (parallel kinematic machines) and serial machines are the opposites of each other. Fully PKMs have relatively very limited working-space, especially in terms of orientation characteristics. Fully serial machines have a problem of error accumulation. This paper presents a modular method to construct a postprocessor system for a novel hybrid parallel-serial five-axis machine tool. A hybrid parallel-serial mathematical model is introduced to analyze a structural configuration. The configuration decomposition of machine tools is used to create the kernel of the postprocessor. The proposed modified Denavit–Hartenberg notation is used in the coordinate conversion procedure, and then an algorithm is used for developing the inverse kinematics of five-axis machines. The feasibility of solutions depends on the surface normal along the tool path satisfying certain orientation constraints. The proposed algorithm can be easily adapted to convert between cutter contact path and cutter location code and implemented on computer-aided design and computer-aided manufacturing systems. Examples with end-milling and side-milling tools are demonstrated and real cutting parts are implemented for verifying the algorithm.

Original languageEnglish
Pages (from-to)63-79
Number of pages17
JournalRobotics and Computer-Integrated Manufacturing
Publication statusPublished - 2018 Apr

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications
  • Industrial and Manufacturing Engineering

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