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提出一种由空间三自由度混联机构和二自由度运动平台组成的五轴联动混联机床构型,运用螺旋理论分析该机构的运动原理。采用闭环矢量法和速度映射关系,对该机床构型的运动学特性进行分析,给出了该机构的位置逆解,确定驱动杆和动平台之间的位姿关系。在此基础上,分析了速度性能及姿态空间,得到机构速度Jacobian矩阵。通过运动学仿真,验证了机床运动学分析的正确性。研究表明,具有该结构的机床可实现较大摆角的加工工作,刀具的摆角可达(-40°~90°),通过五轴联动和刀具的大摆角转动,可实现对复杂工件的五面精密加工。
A five-axis hybrid machine tool configuration consisting of spatial three-degree-of-freedom hybrid mechanism and two-degree-of-freedom motion platform is proposed. The principle of motion of the mechanism is analyzed by spiral theory. The closed-loop vector method and velocity mapping are used to analyze the kinematic characteristics of the machine tool. The inverse position of the mechanism is given and the position-attitude relationship between the driving rod and the moving platform is determined. On this basis, the velocity performance and attitude space are analyzed, and the Jacobian matrix of the mechanism velocity is obtained. The kinematical simulation verifies the correctness of machine kinematics analysis. The research shows that the machine tool with the structure can realize machining with larger swing angle, the swing angle of the tool is up to (-40 ° ~ 90 °), and the five-axis linkage and the large swivel angle of the tool can be used to rotate the complex workpiece Five precision machining.