五轴精雕机运动学模型构建与ADAMS仿真分析

Kinematics Model Construction and ADAMS Simulation Analysis of Five-axis Fine Engraving Machine

为分析五轴精雕机能否实现正确运动,使用机器人D-H法构建五轴精雕机的运动学模型。利用运动学模型求解运动学方程的正逆解,并采用蒙特卡洛法进行工作空间分析,验证运动学模型的正确性;基于ADAMS验证整机模型的正确性并建立运动学和动力学方程,以此进行运动学和动力学仿真分析。得到了机床设计极限时进给驱动力的大小,Z轴为7500 N左右,其余轴均为10000 N左右。为控制系统的设计、滚珠丝杠和电动机的选型提供参考。

In order to analyze whether the five-axis fine engraving machine can realize correct movement,the robot D-H method is used to construct the kinematics model of the five-axis fine engraving machine.The positive and negative solutions of the kinematics equation are solved by the kinematics model,and the workspace analysis is carried out by Monte Carlo method to verify the correctness of the kinematics model.Based on ADAMS,the correctness of the whole machine model is verified and the kinematics and dynamics equations are established to carry out the kinematics and dynamics simulation analysis.The size of the feed driving force in the design limit of the machine tool is obtained.Z-axis is about 7500 N,and the other axes are about 10000 N.It provides reference for the design of control system,the selection of ball screw and motor.