新型船用螺旋桨加工装置刀具位姿控制算法

The cutter position control algorithms for a new marine propeller processing device

船用大型螺旋桨的尺寸较大,现有螺旋桨加工方法存在单面加工、桨叶振颤、二次装夹、加工周期长的问题。针对这些不足,提出了双刀双面对称加工方法。综合并联机构与串联机构的优点,搭建了基于混联机构的加工装置模型,可以实现螺旋桨一次装夹、双刀对称加工压力面和吸力面,有利于消除悬臂梁效应、减弱振颤、提高加工效率和加工精度。介绍了该加工装置的结构设计,对其机构运动参数进行解耦,推导出加工刀具的位姿控制算法。应用ADAMS构建的仿真模型和原型样机验证了控制算法的正确性,为后续加工装备的研发打下了理论基础。

A major challenge of large-scale marine propellers is that the available processing devices have such disadvantages including one-surface machining, propeller blade vibration, poor stiffness, repeated clamping and long processing times. The method of double-cutter and double-surface symmetrical machining is proposed for large-scale marine propellers based on the parallel-serial mechanism, and the processing device prototype that has been constructed. This processing method can overcome the above-mentioned disadvantages： achieve clamping of propellers without repeating, and do double-cutter symmetrical machining of the pressure surface and suction surface. This means it facilitates the elimination of the cantilever effect, weakens vibration, and improves machining efficiency and accuracy. This device can also process some large workpieces with complicated surfaces. The structural design of this processing device is introduced, the movement parameters of the mechanism are decoupled, and the cutter pose and orientation control algorithms are derived. The control algorithms were verified to be correct through the use of the simulation model, which was constructed using ADAMS software and the equipment prototype, providing a theoretical foundation for later research and development of the processing equipment.