【摘要】 五坐标加工机器人采用闭环并联结构,各空间连杆与主轴相联。刀具中心和刀具主轴固联部件构成联动坐标系。求出控制轴与主轴部件铰接点中心坐标,以确定刀具加工姿态。用欧拉角(进动角ψ、章动角θ、为自转角Φ)确定刀具主轴方位。对应同方位,求出主轴部件6轴中2轴瞬时长度相等的位置,由伺服电机改变连杆长度调整主轴姿态,以1控制端同时控制2轴可实现6坐标联动。更多还原

【Abstract】 The close-loop structure was adopted in 5-coordinate machining robot, the host shaft was connected with a number of spatial connecting poles. Moving coordinate system is composed of cutting tool center and hinge joining parts of principal axis of cutting tool. Center coordinate of hinge joining point between control shaft and host shaft parts is calculated to determine machining posture of cutter. The azimuth of the host shaft was determined with A set of Eulerian angle (precession angleψ, nutation angleθ, self- rotation angle Φ). Corresponding to every posture of machining, the position of a certain part of the host shaft was calculated, and the position can made the lengths of the two control axes are instantaneous equal. The length of connecting poles was changed through servo motor to adjust posture of host shaft. So that if one of control ends of NC system controls two axes simultaneously, the function of the 6-coordinate system can be realized with 5-coordinate system.更多还原