基于并行计算的新型并联机床动力学解析模型

ANALYTICAL DYNAMIC MODEL FOR NEW TYPE PARALLEL MACHINE TOOLS BASED ON PARALLEL CALCULATION

基于运动学分析、凯恩动力学方程和数字-符号方法,建立了新型并联机床的动力学解析模型。将动力学模型矩阵的推导问题转化为特定条件下运用运动学和动力学计算公式求解驱动力的问题,由计算机自动生成了动力学模型矩阵的各矩阵元素的实时代码,并提出了实时代码的多项式结构优化方法。还构造了动力学解析模型的并行算法。由于动力学模型是离线建立和优化的加上采用了并行计算结构,大大减少了在线计算量,节省了计算时间。给出了动力学模型矩阵元素实时代码生成和仿真计算的数值实例。

Analytical dynamic model for new type parallel machine tools is established based on kinematic analysis,kane dynamic equation and numeric-symbolic approach.Problem of deriving model matrix elements is transformed into problem of solving for driving force under specified conditions by kinematic and dynamic formulae. Real-time codes of dynamic model matrix elements are generated automatically on computer. Polynomial structure optimization method of real-time code is proposed and parallel algorithm for analytical dynamic model is established. The procedures of dynamic modelling and real-time code optimization can be performed off-line, and parallel calculation structure is adopted, therefore on-line calculation amount and computing time can be reduced greatly. The numerical examples of real-time code generation for dynamic model matrix elements and simulation calculation are given for illustration.