新型三杆五自由度虚轴机床五坐标加工数学模型

5-Axis-Machining Mathematical Model of a Novel 3-legged 5-DOF Parallel Machine Tool

研制了一种新型三杆五自由度虚轴机床 ,建立了五坐标加工数学模型·利用刀具轴线与加工轨迹上曲面法向量的关系及三杆虚轴机床平动的特性 ,确定了三驱动杆的长度及两驱动轴的转角·该表达式为显式 ,形式简单 ,计算量小 ,易于实现机床五坐标加工的实时控制·另外给出了机床运动学正解及雅可比矩阵·正解及雅可比矩阵为显式 ,为机床的灵巧性分析、速度分析及误差补偿提供了条件·这种虚轴机床可以实现复杂形面的五坐标加工·

A novel 3 legged 5 DOF parallel machine tool was developed and the mathematical model for 5 axis machining was built. The length of the three actuating links and rotation angles of the two actuating axes were determined according to the translational motion characteristics of the machine tool and the relation between the axises of the cutter and the normal of the curved surface. The mathematical model for 5 axis machining was explicitly, simply given and its computation is small. This makes it easy to accomplish the real time control of the parallel machine tool. Its forward kinematics and Jacobian matrix were explicitly given and this makes it convenient to analyze its dexterity, velocity and error. This parallel machine tool can accomplish 5 axis machining of sophisticated curved surfaces.