混联机床并联机构的逆动力学分析  

Inverse Dynamics Analysis of Parallel Mechanism of Hybrid Turning-milling Machine Tool

作　　者：陈纯[1,2] 黄玉美[1] 韩旭炤[1] 

机构地区：[1]西安理工大学,西安710048 [2]陕西理工学院,汉中723000

出　　处：《中国机械工程》2009年第7期784-788,共5页China Mechanical Engineering

基　　金：陕西省重大科技创新项目(2005ZKC(二)01-01)

摘　　要：采用Lagrange方法建立了VC80混联机床两自由度并联机构封闭形式的逆动力学模型,并用ADAMS建立的虚拟样机验证了该模型的正确性。对给定的加工轨迹下并联机构所需的驱动力进行了计算和分析,结果表明,该混联机床并联机构的动平台和连杆重力需要的驱动力分量最大,其次是切削力和惯性力,而动平台速度的不同对驱动力的影响较小。A closed inverse dynamics model of 2-DOF parallel mechanism of hybrid VC80 machine tool was established by Lagrange method and its correctness was verified based on ADAMS software. The required driving force of parallel mechanism under the condition of the given cutting path was calculated and analyzed. The results indicate that the moving platform and the rods＇ gravity of the parallel mechanism of hybrid machine tool need the largest components of driving force under the condition of movable platform moving uniform, the cutting force and the inertial force require less, the joint driving force is affected by different velocity of the moving platform slightly.

关 键 词：混联机床 并联机构 Lagrange法 逆动力学 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]