【作者】 王冰；

【导师】 高峰；

【作者基本信息】 燕山大学 ， 机械电子工程， 2005， 硕士

【摘要】 并联机床是知识密集型机电一体化制造装备,涉及机械、电子、自动控制、计算机和传感器等多学科领域。本文密切结合开发新型数控加工装备的需要,对一种五轴混联机床的若干关键技术进行了系统的研究。 采用一种二自由度并联平动机构和球面五杆机构分别实现并联机床的平动与转动自由度,提出了一种新型五轴混联机床的新构型。对其运动学进行了分析,得到其位置正、反解的解析表达式。利用螺旋理论求得了该机床的速度雅可比矩阵,并对其非对称性进行了分析。 综合考虑机构的实现位姿能力及其灵巧度对并联平动机构的尺度综合进行了研究。 采用对并联机床运动学方程取微分的方法求得各个影响因素误差和末端误差的映射关系,使用叠加原理获得了在综合多种误差影响因素作用下并联机床的几何误差解析表达式,采用综合误差敏感度、绝对误差敏感度和误差方向敏感度这三个误差评价指标,将各个机床误差影响因素对机床终端误差的影响进行了分析。 采用虚功原理,并考虑到该并联机床的解耦特性建立了机床的力雅克比矩阵,利用力雅克比矩阵的奇异值对机床的承载能力进行了分析。通过简化一些微小的影响因素,抓取主要矛盾,从而得到简洁的柔度表达式,并在此基础上对机床的柔度作了进一步分析。 以 VC++为平台,利用 OpenGL 对并联机床的运动进行了仿真。更多还原

【Abstract】 The research on PMT(Parallel Machine Tool) involves mechanical engineering, electronics, automation, computer, sensor and so on. In this paper, combining closely with the need of the development of the new numerical machining furnishes, some key technology of a new typed hybrid machine tool are systematically analyzed. A 2-DOF(Degree-Of-Freedom) parallel translational mechanism and a 2- DOF spherical five-bar mechanism are used to realize the translational and rotational degree of freedom of the PMT and a new type synthesis of a new typed five-axis hybrid machine tool is given. The kinematics of the PMT is analyzed and the analytic expression of forward and inverse solution to position for the PMT is obtained. The Jacobian matrix of velocity of the PMT is obtained by using screw theory and the asymmetry of the matrix is analyzed. Based on two critical index: the ability of realizing the location and orientation and dexterity measures, the dimensional synthesis of the translational mechanism is designed. To get the mapping relationship between the influencing factors and the end error of the PMT, the kinematics equation are differentiated. The analytic expression of the geometric error of the PMT is obtained by using the superposition theorem and comprehensively considering the influencing factor. By comprehensively considering the three evaluation indicators: comprehensive error sensitivity, absolute error sensitivity and error tropy sensitivity, the influence of the influencing factor effecting on the end effector is analyzed. The force Jacobian matrix is established by using principle of virtual work and considering the decoupling character of the PMT. The bearing capacity of the PMT is analyzed by using the singular value of the force Jacobian matrix. The briefly expression of flexibility is obtained without regard for minute influence factors and catching hold of the principal contradiction. Based on the above, the flexibility of the PMT is analyzed. The kinematics of the PMT is simulated by using OpenGL based on VC++.更多还原