虚拟轴并联机床多柔体运动误差分析  

Kinematics Error Analysis for Virtual Axis Parallel Machine Tool Flexible Multi-body Movements

作　　者：谭兴强[1] 张勇[1] 谢志江[2] 

机构地区：[1]攀枝花学院机械工程系,四川攀枝花617000 [2]重庆大学机械工程学院,重庆400044

出　　处：《机械设计与制造》2014年第4期124-126,共3页Machinery Design & Manufacture

基　　金：国家"995工程"二期国防领域科技国家重大专项(20083001.HT12)

摘　　要：主要介绍了在Adams中对虚拟轴并联机床进行正逆解仿真分析的方法,在考虑机构柔性的情况下,结合Malab对一种五自由度虚拟轴并联机床的逆解和正解及额定负载下的运动误差进行分析。先用点驱动定义该机构末端的运动轨迹,仿真后测量得到各主动副的位移时间曲线即为逆解曲线。然后通过后处理模块对曲线进行处理,得到主动幅的驱动样条函数,再把该函数施加在五个主动幅上进行仿真,得到的机器末端位姿曲线即为正解轨迹。采用该方法分别对多刚体虚拟轴并联机床的运动轨迹和多柔体虚拟轴并联机床的运动轨迹进行了分析,通过分析发现该虚拟轴并联机床具有刚度大、精度高等优点。The inverse kinematics roots simulation analysis method of a virtual axis parallel machine tool （VAPMT） is introduced based on the software of Adams, considering the flexibility of this m evhanism, combined with the software of Malab, forward and inverse roots, and together with kinematics error undergoig normal load of a 5-DOF virtual axis parallel mavhine tool are analyzed. Using point driving to define the movemem tvajectar？ at the end of motive ptatform first, after the simulation the displacement curve of inverse roots qf all joints of this mechanism can be got by using the measurement tool of Adams. Then through the post-processing module to handie this curve to get active delve spline functions, it puts these functions on the five driving joints and position and pose curve trajectory of this mechanism is achieved. Respectively the method of multi-rigid-body virtual axis parallel machine tool trajctary and multi-flexible-body motion trajectory of virtual axis parallel machine tool is an〈dyzed, and through the analysis it is found that the virtual axis parallel machine tool has advantages of large rigidity, and high precision. Key Words：Virtual Axis Machine Tool; Parallel Mechanism; Kinematics Forward Root; Kinematics Inverse Root; Flexible Multi-Body Mechanism Error

关 键 词：虚拟轴机床 并联机构 运动学正解 运动学逆解 多柔体机构误差 

分 类 号：TH16[机械工程—机械制造及自动化] TH11