Modelling and design issues of a 3-axis parallel machine-tool

This paper presents research works dedicated to a 3-axis PKM intended to be used as a drilling–taping machine-tool. The method selects a suitable parallel mechanism and a convenient general arrangement. Then it derives all the necessary models for design, including position, kinematics, statics, dynamics and simplified stiffness as well as accuracy evaluation models. Finally, those models prove their effectiveness through computation results and their application to a real machine.