Research and development of a 5-axis hybrid kinematic CNC machine

A 5-axis hybrid computer numerical controlled machine was developed using a 2 degree of freedom spherical parallel mechanism known as the Agile Eye. The hybrid machine design consisted of a 3-axis serial gantry type structure, with the Agile Eye being placed at the end of the Z-Axis to allow for machining on inclined planes. A control system was designed that controlled two kinematic systems, the 3-axis serial kinematic system and the 2-axis parallel kinematic system. This paper details the design of the agile eye, its kinematic models and the integration of the agile eye mechanism to create a functional hybrid machine.