5-UPS/PRPU五自由度并联机床动力学建模

Dynamics Modeling of 5-UPS/PRPU 5-DOF Parallel Machine Tool

介绍了一种新型的 5 UPS/PRPU五自由度并联机床 ,为该机床建立了基于动平台位姿参数的动力学模型。分析了机床中主要构件的运动情况 ,建立了各个构件的运动速度与机床驱动速度的映射关系 ,推导了各个构件的惯性力、重力、切削力等外力所产生的等效驱动力 ,建立了机床驱动力与运动参数之间关系的动力学解析方程。

A type of novel 5UPS/PRPU 5-DOF PMT(Parallel Machine Tool)is proposed and the dynamics model of the PMT is presented based on the parameters of the position and orientation of the moving platform.The kinematics of the main components is analyzed and the mapping relations between the component's velocity and the driving velocity are established.The force,including inertia force,gravity,cutting force of the components and the equivalent driving force are educed.Finally the dynamics analytic equation about the relation between the driving force and the motional parameters of the PMT is obtained.