【摘要】 通过对3-TPS混联机器人结构的分析，提出了基于虚实轴空间转换的后处理，采用D-H法建立了从工件坐标系到工具加工坐标系和从虚拟轴到实际运动轴的两个阶段的后处理算法。在虚拟轴空间中以笛卡尔坐标系下的G代码编程操作，降低使用难度，提高其通用性。控制系统在实轴空间控制机器人实现位姿运动，达到指定位置。通过轨迹仿真和实验验证了虚实轴空间转换后置处理的有效性及在实际加工中的便捷性。在混联机器人通用化数字编程加工及工程应用推广方面具有重要意义，对其他结构的混联机器人或混联机床的通用性提高也具有较强借鉴意义。更多还原

【Abstract】 Through the analysis of the 3-TPS hybird robot structure, a post-processing method based on the virtual/real axis space conversion is proposed. The denavit-hartenberg(D-H) method is used to establish two-stage post-processing algorithms of the conversion form the workpiece coordinate system to the tool machining coordinate system and the conversion from the virtual axis to the actual motion axis. Programming operations are performed by the standardized G-code in the Cartesian coordinate system of the virtual axis space, which reduces the complexity of programming and enhances the universality of the robot. The control system executes motion of the robot in the real axis space to achieve the desired position and posture. The effectiveness of the virtual-real axis space transformation post-processing and its convenience in actual machining have been verified through trajectory simulation and experiments. It is of great significance in generalizing numerical programming and popularizing engineering application for the hybrid robots. Moreover, this method provides valuable insights into enhancing the universality for hybrid robots or parallel machine tools with other structures.更多还原