Analysis and Design of a 5DOF PKM System for Light Deburring Operations

This paper presents the conceptual design of 5dof tripod-based parallel kinematic machine system to be applied in the magnesium alloy castings finishing industry. The design starts from the industrial requirements and process needs, then propose the most promising architecture and mobility. With the structure, kinematic/dynamic analysis is conducted, and stiffness model is established, it can be further used for stiffness control and design optimization. The genetic algorithms is applied for structure optimization. Finally, an experiment of prototype is setup to validate the methods and models.