6-UPU型并联机床轨迹控制

6-UPU Parallel Machine Tool Trajectory Control

并联机床具有结构简单控制复杂的特点。机床的自由度高,刚性好,惯性量低,成为新一代机床的研究重点,其对轨迹的控制成为并联机床研究的核心问题。论文提出了一种对并联机床进行轨迹控制的方法,并在6-UPU型并联机床上进行了实验验证,验证了该理论的可行性,为以后的并联机床控制系统研究提供了理论依据与技术基础。

Parallel machine tool has features of simple structure and complex control. A high degree of freedom,high rigidity,low inertia of the machine tool become the focus of a new generation of machine tools. The control to it＇ s trajectory become the core problem of the parallel machine tool research. In this paper,there is a method of the parallel machine＇ s trajectory, and the 6-UPU machine experiments has been verified. It proves the feasibility of the theory,and it also provides a theoretical basis and technical basis for the control system research of the future parallel machine tool.