并联机床工作空间和工件位置计算

Research on Automatic Localization of Workpiece Machined by Parallel Machine

根据并联机床工作空间的定义及几何约束条件 ,针对哈尔滨工业大学研制的并联机床 ,按刀头点计算出该机床的工作空间 ,以及在 Z轴方向上各高度刀具的加工范围 ,这对指导机床加工工件具有重要意义。另外由于并联机床工作空间不规则 ,加之刀具轴线与 Z轴方向夹角的限制 ,对于带有复杂曲面的工件如何设置其在工作空间中的位姿 ,仅靠直觉很难完成。因此本文论述了如何建立工件自动定位的数学模型 ,进而开发工件自动定位系统 。

The tool point′s workspace according to the definition of parallel machine workspace and geometric restrain, and machining range in heights along Z axis is calculated, aimed at the first parallel machine developed by Harbin Institute of Technology. It is important to instruct machining. Due to irregularity of the parallel machine workspace and the angle confinement between tool axis and Z axis, it is difficult to be finished by in tuition that the workpiece with complex surface sets up the position and the posture in the workspace. So this paper presents how to construct a mathematical model, and develops auto location system of the workpiece, it has important significance and reference value to machining the workpiece with complex surface.