基于Stewart平台数控机床的轨迹规划研究

Study on Trajectory Planning of Numerical Control Machine Tool Based on Stewart Platform

根据虚拟轴机床在制造业中的应用特点，阐述多余自由度的概念，提出利用优化多余自由度实现刀具轨迹规划的策略。在大量仿真实验结果的指导下，提出一种更加简单的确定多余自由度的方法，该方法可以在机床的实际控制中快捷地实现刀具轨迹规划。

Based on the characteristics of Virtual Axis Machine Tool as a type of machining equipment, this paper introduced the concept of the extra degree of freedom(EDOF), and proposed the strategy of trajectory planning of cutting tools by taking use of EDOF. On the basis of the results form various simulations, a simple method for determining EDOF is proposed, and this method can quickly and handily carry out the trajectory planning of tools.