一种新型五自由度混联机床的运动及仿真分析  

The Analyses of Kinematics and Kinematics Simulation of a New Typed 5-DOF Hybrid Machine Tool

作　　者：王冰[1] 高峰[2] 运红丽[3] 彭斌彬[4] 岳义[3] 

机构地区：[1]华北航天工业学院机械工程系,河北廊坊065000 [2]上海交通大学机械与动力工程学院,上海200030 [3]燕山大学机械工程学院,河北秦皇岛066004 [4]北京航空航天大学机器人研究所,北京100083

出　　处：《组合机床与自动化加工技术》2005年第5期23-25,28,共4页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：提出用两个二自由度并联机构相串联而成的混联机构作为主进给机构,外加一维运动的工作平台使之能实现五坐标数控加工的一种新型混联机床。其具有结构简单、易于控制的特点。对其机构进行了描述,应用螺旋理论分析了球形五杆机构的运动螺旋及其反螺旋,在此基础上求得其自由度;分析了该混联机床封闭的运动学正反解,用数值方法对其正确性进行了验证;并在此基础上以VisualC++为平台,利用OpenGL对其运动进行了仿真,对设计思想及设计细节进行了验证,为样机制造提供了可靠保证。A configuration of a new typed hybrid machine tool is proposed in this paper which take a new hybrid mechanism combined with two 2-DOF parallel mechanism as the main feeding mechanism and the assistance of two-way moving worktable to achieve five-coordinates numerical controlled machining.It has the characters of uncoupled and control easily. The mechanism is described and based on the screw theory, the kinematics characteristics of the five-bar spherical parallel mechanism are analyzed including the kinematics screw, reverse screw and degree of freedom. Closed-form solution are analyzed for both inverse and direct kinematics and examined and certified by numerical method. Based on the above, the kinematics of the hybrid machine tool are simulated by using OpenGL based on Visual C++, so the idea and details of the design are tested. This research lays the foundation for manufacturing the prototype of the hybrid machine tool.

关 键 词：混联机床 并联机构 位姿分析 运动学仿真 

分 类 号：TG5[金属学及工艺—金属切削加工及机床]