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1 ISSN ,,, 2017,. 30 backlashes. Ths allows conductng the cuttng process wthout the formaton of technologcal protruson between wres. Dstnctve features of a new cut shapng technology scheme are reflected n a machne desgn concept, whch ensures the followng: optmal process condtons n the cuttng zone, mnmal cut wdth, maxmum possble cuttng performance, parallel pullng and tensonng of the two wres n the cuttng zone, wre n pullng speed adjustment, cuttng depth montorng, optmum wear of the b-wre electrode-tool. Ths artcle proposes and examnes a hgh performance way of electrc arc metal cuttng wth b-wre electrode-tool. The physcal cuttng mechansm s descrbed. Machne desgn concept, whch mplements ths method, s developed. Expermental machne «Knfe-1» for electrc arc hard materals cuttng wth b-wre electrode-tool s desgned, manufactured and examned. electrc arc, hydrodynamc mode, b-wre electrode-tool, shapng technology system, cuttng machne : ,., -.,,.,., E-mal: andrew.krchenko@gmal.com. 2R3T, 120º 180º,.,,,..,., -.,,.,.,. 2R3T, 120º 180º,.,,,.,.,..,,

2 ISSN Machnery n agrcultural producton, ndustry machne buldng, automaton, 2017, Col.30., Starrag Group AG [1], 0,5g 1g 30%.,,.,.,.,.., [2].,, [3].,,,,,.,., [4] 3RPR (. 1),.., [5], (. 2),

3 ISSN ,,, 2017,. 30, - [6],, [7]. [8]. : 3- ARCHI [13] 5- EUREKA [14] ±90º...,, Eclpse [9], ( ). 8 6,. Eclpse,, 50 / 15 / [10]. 5 ARCHI 6 Eureka Metrom [11],,., 1000 (. 5),,,,. [12].,. 59

4 ISSN Machnery n agrcultural producton, ndustry machne buldng, automaton, 2017, Col.30 3 Eclpse ( ) 4 P1000 Metrom () - [15],. 5 2R3T (2 3 ), , (. 5). r A y 1 q 3 z x q 1 q 5 r / 0 r / A1 y r / B r / B 4 q r / zb1 q 4 0 / z / x / q

5 ISSN ,,, 2017,. 30,,. 6, - 7. (. 6) [12]: l z A B B R zb r 2 2 xa ya r 0 B z r r A, (1) R ; x, y, z A ; A A A z B B ; r B - B. r - 0 ; r - A A.,, 56.,, ( - ).. [16],,, : K n n k n 0 k 0 6 rb n rb n rb n6 rb n6, (2) k ; n... (. 5, ), (. 5, ), (. 5, ). 61

6 ISSN Machnery n agrcultural producton, ndustry machne buldng, automaton, 2017, Col.30 ) ) ) 5 (. 6), 120º, 180º. (, - ).,. ) ) ) ; ) R3T (2 3 ),,, 62

7 ISSN ,,, 2017, º 180º. 2.,,,. 3.,,,,. 1. Starrag Group [ ] //. : 2. Luces, M. A. Revew of Redundant Parallel Knematc Mechansms / M. Luces, J. K. Mlls, B. Benhabb // Journal of Intellgent and Robotc Systems. May Vol. 86, Issue 2. P Merlet, J-P. Redundant parallel manpulators // J. of Laboratory Robotc and Automaton Vol. 8(1). P Müller, A. On the termnology and geometrc aspects of redundant parallel manpulators // Robotca Vol. 31(1). P Aref, M. M. Geometrcal workspace analyss of a cable-drven redundant parallel manpulator: KNTU CDRPM / M. M. Aref, H. D. Taghrad // 2008 IEEE/RSJ Internatonal Conference on Intellgent Robots and Systems, Nce P Shang, W. Augmented nonlnear PD controller for a redundantly actuated parallel manpulator / W. Shang, S. Cong, Z. L, S. Jang // Advanced Robotcs. Vo. 23 (12-13). P Müller, A. Consequences of geometrc mperfectons for the control of redundantly actuated parallel manpulators // IEEE Trans. Robot Vol. 26 (1). P Sartor, Natal G. Dual-space adaptve control of redundantly actuated parallel manpulators for extremely fast operatons wth load changes / G. Sartor Natal, A. Chemor, F. Perrot // Proceedngs of IEEE Internatonal Conference on Robotcs and Automaton, IEEE, Sant Paul, MN, USA, pp , Ryu, S.J. ECLIPSE: An Overactuated Parallel Mechansm for Rapd Machnng / Ryu, S.J., Km, J.W.. Hwang, J.C., Park C., Ho, H.S., Lee, K., Lee, Y., Cornel U., Park, F.C., Km. J. // Proceedngs of ASME Internatonal Mechancal Engneerng Congress and Exposton. Vol. 8, USA, 1998, pp Km, J. Eclpse-RP: A new RP machne based on deposton and machnng / J. Km, K. S. Cho, J. Hwang, C. Iurascu, F. C. Park // J. Mult-body Dyn Vol P Metrom mechatronsche maschnen [ ] //. : 12.,.. [] /..,..,.. //.. :, (67) Marquet, F. ARCHI, a redundant mechansm for machnng wth unlmted rotaton capactes / F. Marquet, S. Krut, O. Company, F. Perrot // Proc. of IEEE ICAR P Krut, S. Eureka: A New 5-Degree-of-Freedom Redundant Parallel Mechansm / S. Krut, O. Company, S. Rangsr, F. Perrot // Intl. Conference on Intellgent Robots and Systems P Cao, Y. Sngularty Elmnaton of Stewart Parallel Manpulator Based on Redundant Actuaton / Y. Cao, H. Zhou, B. L, S. Long, M. Lu // Advanced Materals Research Vols P ,.. [] /.. //,. -. :, , Andry Kyrychenko, Prof., DSc., Methaq Albraheem, post-graduate Central Ukranan Natonal Techncal Unversty, Kropyvnytsky, Ukrane Mult-axs machne tool wth redundant parallel manpulator and custom end effector 63

8 ISSN Machnery n agrcultural producton, ndustry machne buldng, automaton, 2017, Col.30 The artcle s amed to develop a new 5-dof redundant parallel manpulator 2R3T (2 rotatonal and 3 translatonal degrees of freedom) wth custom end effector to elmnate sngulartes n the workspace and provde advanced orentaton ablty for machne tools applcatons. The new redundant parallel manpulator wth 5 controllable degrees of freedom has 6 varable-length lnks actuators connected to the end effector wth a common axs of jonts. A few possble layouts of the machne are proposed, extendng the orentaton capablty of the end effector to 120 deg and 180 deg about two axes respectvely. Knematcs and stffness of the manpulator are consdered. The further research should be amed to drect knematcs, workspace, manpulaton ndces, stffness and geometry optmzaton, developng a specal control algorthms based on a calculated torque to keep the stablty and prevent the nternal stress n the manpulator structure. machne tool, parallel manpulator, redundant, end effector : ,., -.,..,.,..,.,..,.,..,..,.,..,., E-mal: krasotamv@ukr.net.,.,...,,,,,,,..,., -.,..,.,..,.,..,.,..,..,.,..,.,.,.,...,,,,,,,..,..,..,..,..,