五轴机床的运动学坐标变换关系研究

Research on Relationship of the Kinematic Coordinate Transformation of Five-axis Machine Tools

随着制造行业朝着高精密、高效率的方向发展,五轴机床具有加工效率高、质量可靠等优势,广泛应用于航空航天、汽车制造等领域。但五轴机床不仅结构类型繁杂,而且在加工过程中运动方式复杂多变。以五轴数控机床线性插补轴展开论述,依次介绍了五轴带转头和转台机床、五轴带双转台机床、五轴带双转头机床的主要构造形式及主要加工特征。并以五轴带转头和转台机床作为切入点,详细阐述了相对于矢量运动的坐标变换相关概念。以此为突破口,建立了五轴数控机床的数学模型,运用齐次变换矩阵,求解出五轴机床运动过程中的坐标平移和坐标旋转的变换矩阵,进一步明确了五轴机床运动过程中坐标点位的变化关系,为研究数控机床的运动学变化提供了一定的理论支撑。

With the development of the manufacturing industry in the direction of high precision and high efficiency,the five-axis machine tools had the advantages of high machining efficiency,reliable quality and so on,which was widely used in aerospace,automobile manufacturing and other fields.However,the five-axis machine tool not only had complex structure types,but also had complex and changeable movement modes during the machining process.First,it was discussed that the linear interpolation axis of the five-axis CNC machine tool,and the main structural forms and main machining characteristics of the five-axis machine tool with rotary head and rotary table,the five-axis machine tool with double rotary table,and the five-axis machine tool with double rotary head were introduced in turn.And took the five-axis machine tool with rotary head and turntable as the starting point,the concept of coordinate transformation relative to vector motion was expounded in details.Took this as a breakthrough,the mathematical model of the five-axis CNC machine tool was established,and the transformation matrix of the coordinate translation and coordinate rotation during the movement of the five-axis machine tool was solved by using the homogeneous transformation matrix,specially,the changing relationship of coordinate points during the movement of the five-axis machine tool were further clarified,it provided a certain theoretical support for the study of kinematics changes of CNC machine tools.