Design and Stiffness Analysis of a 5-axis Gantry-Tau Milling Machine

2018

Master's thesis Mechatronics MAS500 - University of Agder 2018 The Gantry-Tau is a Parallel Kinematic Machine (PKM) structure that possesses many advantages as a milling machine, where it has a low moving mass, high stiffness and a large workspace to footprint ratio. This thesis presents a new milling machine design based on this structure, as a continuation of a formerly constructed prototype, see [1]. This includes selection of new actuators for the linear drives as well as the development of a new tool platform and two joint concepts. A short workspace analysis is presented on the proposed design, which includes calculation of valid workspace and an analysis on the required joint mobilit…