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串并聯(lián)數(shù)控機(jī)床伺服系統(tǒng)運(yùn)動(dòng)學(xué)耦合特性研究
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國(guó)家科技重大專(zhuān)項(xiàng)資助項(xiàng)目(2009ZX04014-013-01)和吉林省教育廳“十二五”科學(xué)技術(shù)研究項(xiàng)目（2012111）


Kinematics Coupling Analysis of 3-PTT CNC Serial-parallel Machine
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    摘要:

    為分析串并聯(lián)機(jī)構(gòu)運(yùn)動(dòng)學(xué)耦合問(wèn)題，提出了一種串并聯(lián)機(jī)構(gòu)的運(yùn)動(dòng)學(xué)正、逆解耦分析方法，分析了3-PTT串并聯(lián)機(jī)床伺服進(jìn)給系統(tǒng)加工過(guò)程中運(yùn)動(dòng)學(xué)耦合機(jī)理，建立了耦合模型。針對(duì)串并聯(lián)機(jī)構(gòu)虎克鉸結(jié)構(gòu)和運(yùn)動(dòng)特性，采用位姿解耦的方法進(jìn)行分析。在此基礎(chǔ)上，以加工螺旋線軌跡為仿真實(shí)例，應(yīng)用ADAMS和Matlab對(duì)模型進(jìn)行聯(lián)合仿真分析。仿真及試驗(yàn)結(jié)果表明：3-PTT串并聯(lián)數(shù)控機(jī)床伺服進(jìn)給系統(tǒng)加工過(guò)程中運(yùn)動(dòng)速度快且耦合誤差小，運(yùn)動(dòng)軌跡符合運(yùn)動(dòng)學(xué)規(guī)律，可較好地反映運(yùn)動(dòng)耦合狀態(tài)。該研究過(guò)程實(shí)現(xiàn)了3-PTT串并聯(lián)機(jī)構(gòu)運(yùn)動(dòng)學(xué)解耦。

    Abstract:

    In order to solve the problems of kinematics coupling, a method was put forward based on kinematics. Kinematics coupling mechanism of 3-PTT series-parallel machine tool servo feed system was analyzed. Based on hooker and motion characteristics of series, parallel institutions pose decoupling method was used for analysis. The ADAMS and Matlab were used for simulation. The results showed that this analysis could reflect the kinematics coupling of 3-PTT CNC serial-parallel machine. It had high velocity and small coupling error. The research process could effectively solve the problem of series-parallel CNC machine tool servo feed system kinematics coupling.

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張邦成,王占禮,王義強(qiáng),蔡 赟,姚 禹.串并聯(lián)數(shù)控機(jī)床伺服系統(tǒng)運(yùn)動(dòng)學(xué)耦合特性研究[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2013,44(11):316-321. Zhang Bangcheng, Wang Zhanli, Wang Yiqiang, Cai Yun, Yao Yu. Kinematics Coupling Analysis of 3-PTT CNC Serial-parallel Machine[J]. Transactions of the Chinese Society for Agricultural Machinery,2013,44(11):316-321.

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  • 在線發(fā)布日期: 2013-11-07
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