一种5轴混联加工中心的位姿正逆解分析

Forward and inverse solution about a 5-axis serial-parallel machine tool

为了解决目前纯并联机床存在的问题,研究了一种新型5轴混联加工中心结构,该新型结构具有工作空间大、静动态刚度好的优点.针对其运动参数间存在较强的耦合性,给出了运动平台姿态参数与位置参数间的数学解耦关系,将解析法和数值法相结合,对其位姿逆解进行了详细的推导,同时借助改进的杆长逼近法,进行了位姿正解的推导.实例验证结果表明算法正确、有效.该算法对混联机构的运动分析具有一定的参考意义.

To resolve some problems,such as small workspace,about the traditional parallel machine tools,a new kind of 5-axis serial-parallel machine tool is introduced,which has large workspace as well as good static and dynamic stiffness.Considering the strong coupling between position parameters and orientation parameters of the movable platform,the relationship between them is established.The numerical and analytic algorithms are adopted together to solve the inverse kinematics solution,and the bar length approaching algorithm is adopted in the forward kinematics solution without consideration of the additional initial position parameters.The solution method is verified to be correct through two samples,which is important to the analysis of control system of the machine tool.