Design and Development of a Portable Machining Robot with Parallel Kinematics

In order to achieve the mobile processing of large structural components or the remote maintenance of large-scale equipment, a compact and portable parallel machining robot named DiaRoM is designed and developed. According to the required degrees of freedom (DoFs), a parallel mechanism with the configuration of 4SPU-SPR (S, spherical joint; P, prismatic joint; U, universal joint; R, revolute joint) is proposed by using the type synthesis method based on Grassmann Line Geometry and Line-graphs. The kinematic optimization, driving system parameter optimization (DSPO) and prototype development for the robot are presented. The DiaRoM prototype can converse between horizontal and vertical working modes and realize flexible 5-axis machining.