Long-Range Drilling System with Constrained Tool Path Based on Scissor-Like Elements

The drilling system presented in this work offers the possibility of reaching a long machining range, in addition to constraining the tool path. In this system, a displacement mechanism, based on scissor-like elements (SLE), is being used, which is able to cover a greater range compared to conventional drilling machines. The constraints on the tool path are regulated by a model-based predictive controller (MPC). This controller in addition to stabilizing, restricts overshoot and limits the advance of the tool.