Shelepko O. Improvement of output characteristics of multiaxis parallel kinematic machines with special effector

The object of the study is the multiaxis parallel kinematic machines with special effector. The dissertation is devoted to the solution of the actual scientific and technical problem, namely, to increase the output characteristics of multiaxis parallel kinematic machine with a special effector whose hinges have a common axis, by substantiating rational layout and geometric parameters, as well as output characteristics management by purposeful displacement of base joints depending on the effector orientation and the type of machining.A general composite scheme and mathematical models of the multiaxis parallel kinematic machines with special effector have been developed that characterize the location of the supporting joints in space and accordingly its kinematic dependencies have been improved.Workspace is defined and the spatial stiffness is reduced to the zone of processing, depending on the orientation of the working body, the layout, and geometric parameters of the machine.The method of the spacial stiffness increasing is reduced to the zone of processing and expansion of the workspace of a multiaxis parallel kinematic machine with special effector is substantiated by purposeful change of the geometric parameters of the machine due to the change of the fixed base individual joints arrangement configuration.The experimental measurements of the effector stiffness with axial and radial loading and the spacial stiffness is reduced to the machine processing zone are made by measuring the displacements of the effector with its horizontal and vertical orientation when loading on the axes X, Y and Z, for which a working model of the machine tools was developed and manufactured and appropriate equipment.On the basis of the conducted research, the main features of the design of multiaxis parallel kinematic machine with special effector are formulated. A new design of the machine tool and its elements, protected by Ukrainian patents, is proposed. The methods of expanding the processing possibilities on the existing structure of multiaxis parallel kinematic machines with special effector are proposed.