Mobility and kinematics analysis of a novel 5DOF hybrid manipulator for reconditioning of mould and die tools: Part 2

Abstract

Two novel hybrib manipulators that can be used for reconditioning of mould and die tools are presented in this paper. These designs have been developed using the knowledge of the different manufacturing process and defects that occur in mould and die tools. The similarities in the two novel hybrid manipulators are: they all used serial kinematics chains that implement parallelograms for linear translation. The designs differ in the manner the parallelogram are used to achieve linear translation. Moreover, rotary motions are achieved differently in these designs.The mechanical architectures and kinematics capabilities of the novel manipulators are presented. Finally, the kinematics capabilities of the developed manipulators are compared with those of 5aixs milling machine