- prove the possibility to build 5 axis machine tool with decent performance out of cheap imprecise components;
- develop simple and effective desigh of joints and actuators for parallel machine tools;
- elaborate automated methods to calibrate parallel machine tool without expensive equipment.
Available information on existing multiaxis parallel machines was analysed and evaluated. The following considerations and requirements to parallel mechanism and its components were taken into account:
1. Single-type actuators for all dof to minimize the number of components. That leads to fully parallel machines only.
2. The simpliest possible design of all components to minimize manufacturing cost.
3. The lowest precision of base frame so that it could be weld and bolted with no additional equipment.
4. The servo motors preferred to steppers - they do not lose steps, have uniform torque up to maximum rotation speed.
5. The base frame should be tall enough to provide free access to working envelope and wide enough to be steady.
