Conceptual design and optimization of a 3-DoF parallel mechanism for a turbine blade grinding machine

This paper firstly presents the conceptual design of a turbine blade grinding machine, and a hybrid mechanism with six degrees of freedom (DoFs) is proposed for the development of the machine. In this concept, a 3-DoF parallel kinematic mechanism is used to realize the high-speed and high dynamic performance. To ensure that the 3-DoF parallel kinematic mechanism has continuous workspace, the singularity is analyzed and discussed in detail. By taking motion/force transmissibility into consideration, kinematic optimization is carried out based on a local transmission index and the geometrical parameters are derived. The conceptual design and optimization presented in this paper are very helpful to the development of the turbine blade grinding machine.