Development and experimental study of a redundant hybrid machine with five-face milling capability in one setup



A hybrid milling machine with actuation redundancy is developed in the current paper. This machine is capable of five-face milling in one setup. A redundant parallel kinematic module (PKM) is proposed by the introduction of actuation redundancy. Based on this module, the hybrid mechanism of the machine is presented. A local minimized transmission index is proposed to evaluate the motion/force transmissibility of the redundant PKM. The finite element analysis (FEA) simulation is used in the mechanical design of the machine to verify the stiffness and frequency characteristics of the model. After the manufacture and assembly of the machine, experiments on stiffness, accuracy, and machining are carried out. The capability of five-face milling in one setup is verified, and the finished work piece has good surface quality.


Hybrid milling machine Actuation redundancy Five-face milling Parallel kinematic module 



global coordinate system

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work piece coordinate system


local minimized transmission index (LMTI)


local transmission index (LTI)


the number of actuation-redundancy actuators


the number of mutual interference actuators


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Copyright information

© Korean Society for Precision Engineering and Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  1. 1.The State Key Laboratory of Tribology & Institute of Manufacturing Engineering, Department of Mechanical EngineeringTsinghua UniversityBeijingChina
  2. 2.Department of Precision InstrumentsTsinghua UniversityBeijingChina
  3. 3.Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and ControlTsinghua UniversityBeijingChina
  4. 4.Institute of Aircraft EngineeringNaval Aeronautical and Astronautical UniversityYantaiChina

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