三自由度虚拟轴机床静力学及动力学的若干研究

Research of Statics and Dynamics to a New Kind of 3 DOF Tripod

针对我国特殊钢的钢坯局部修磨问题，开发出一种三自由度虚拟轴机床。建立静力学和动力学方程，并对静力学和动力学特性进行研究。由于机床的外力和外力矩分别由驱动杆和平行机构承受，其力学模型和位置控制都变得简单易行。通过结构柔度系数矩阵对机床刚度特性进行考察，表明在工作空间的横截面内，越接近中心，机床刚度越高。动力学方程的仿真表明各杆驱动力有相似性，且运动平台的质量对各杆驱动力的影响较大。

A novel tripod machine tool with 3-DOF has been developed to achieve automatic snagging of steel billets. Both the static and the dynamic equation of the tripod are derived, and studies on its static and dynamic characteristics are carried out. The loading force and torque respectively born by the driving legs and translation-mechanism, so the tripod has a quite simple form of mechanical model and facilitates the position control. The machine tool stiffness performance is investigated with the matrix of structural flexibility coefficient, it shows that on the horizontal planes of workspace, the nearer to the center, the higher the machine tool stiffness. The simulation of dynamic equation shows that the driving forces on the legs are analogous to each other and the mass of moving platform has relatively strong effect on the driving force of each leg.