Mechatronic design of a parallel manipulator for milling

The paper presents the process of development of parallel manipulators for milling, and justifies why mechatronic approach can lead to successes. The resulting construction is a novel, versatile 3-RRPRR (revolute-revolute-prismatic-revolute-revolute joints), fully-parallel manipulator with three translational degrees of freedom, characterizing in comparatively high payload capacity, large workspace and high attainable accelerations. The construction of the manipulator is shown, with analysis of its kinematics and dynamics. An initial controller for identification is proposed, simulated and experimentally investigated. Finally, the conclusions are presented