基于Stewart机构并联加工机的插补算法

Interpolation Algorithm of Parallel Connected Machine Tool Based on Stewart Mechanism

目的研究基于Ｓｔｅｗａｒｔ机构的并联加工机的插补算法．方法利用通常的时间分割插补算法思想和并联加工机构逆运动学模型，求解刀具运动轨迹与６根伸缩杆之间的关系，导出一种插补算法，并采用面向对象的程序设计方法编制仿真软件，通过计算机仿真验证该插补算法的可用性．结果与结论对球面类和双曲面类零件加工过程仿真结果表明，所提出的插补算法是正确、实用的。

Aim To research the interpolation algorithm of parallel connected machine tool based on stewart mechanism.Methods\ The common idea of time discrete interpolation algorithm and the inverse kinematics model of parallel connected machine tool were used to evaluate the relation between tool motion path and six telescopic legs and to derive one kind of interpolation algorithm.Object oriented program design method was adopted to work out the simulation software and the availability of the interpolation algorithm was testified by computer simulation.Results and Conclusion\ Simulation results of machining process of sphere parts and one sheet hyperboloid parts show that the interpolation algorithm proposed is correct and practical, providing a new and feasible interpolation algorithm for parallel connected machine tool.