Research on the Motor Capabilities of the Kinematic Links of the Machine with PKM During Shaping Movements with an Axial Tool

Any proposed design of a machine with parallel kinematics machine (PKM) requires justification of the choice of design parameters and technical characteristics for the further implementation of this equipment in production. Since the coordinate movements of the executive body for the implementation of the technological operation associated with the processing of parts are performed by kinematic links, the indicator of the motor capabilities of the kinematic links of the PKM during the shaping process was investigated. To carry out research in the MathCad, a general mathematical model of the design of a machine with PKM. First of all, boring and drilling schemes are considered, in which the tool moves along one or more coordinates simultaneously. Then, processing according to technological schemes with complex tool motion trajectories is considered, milling in a plane according to the technological schemes: along an astroid, along an Archimedean spiral, along an elongated cycloid and along an epicycloid. The change in the length of kinematic links during typical technological movements in space is considered according to the processing schemes along a cylindrical and conical helical line. During linear movement of the tool in the XZ and YZ planes, the length of some kinematic links increases, while others decrease. The change in the length of kinematic links during movement of the tool “along an astroid” and “along an epicycloid” increases and decreases within small limits. During movement “along an Archimedean spiral”, the length of the kinematic links changes according to a sinusoid. Movement “along an elongated cycloid” changes the length of the kinematic links according to the corresponding law. The change in the length of kinematic links during machining “along a helical line” occurs according to a sinusoid, and their length increases when the tool moves along the Z axis. For the machining scheme “along a conical helical line”, it has the opposite character.