2023
DOI: 10.14203/j.mev.2023.v14.1-10
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Five-axis parallel mechanism system (PMS) CNC partial link control system based on modified inverse kinematic of 6-DOF UPS parallel manipulator

Abstract: This paper presents a control system algorithm for a five-axis parallel mechanism system (PMS) CNC milling machine based on a 6-DOF Stewart platform parallel manipulator with a universal-prismatic-spherical (UPS) configuration. The control system reads the G-Code commands as standard CNC machine language, then extract data points and interpolates them to generate the robot trajectory patterns as motion references. Then, the control system uses the modified inverse kinematic equation to determine the length of … Show more

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