一种大摆角五轴联动混联机床设计及运动学分析  

Mechanism Design and Kinematics Analysis of Five-axis Linkage Hybrid Kinematics Machine with Large Pendulum Angle

作　　者：鲁岩[1] 薄瑞峰[1] 冯鹏升 李瑞琴[1] Lu Yan Bo Ruifeng Feng Pengsheng Li Ruiqin(School of Mechanical and Power Engineering, North University of China, Taiyuan 030051, China)

机构地区：[1]中北大学机械与动力工程学院,山西太原030051

出　　处：《机械传动》2016年第10期38-42,共5页Journal of Mechanical Transmission

基　　金：国家自然科学基金(51275486)

摘　　要：提出一种由空间三自由度混联机构和二自由度运动平台组成的五轴联动混联机床构型,运用螺旋理论分析该机构的运动原理。采用闭环矢量法和速度映射关系,对该机床构型的运动学特性进行分析,给出了该机构的位置逆解,确定驱动杆和动平台之间的位姿关系。在此基础上,分析了速度性能及姿态空间,得到机构速度Jacobian矩阵。通过运动学仿真,验证了机床运动学分析的正确性。研究表明,具有该结构的机床可实现较大摆角的加工工作,刀具的摆角可达（-40°-90°）,通过五轴联动和刀具的大摆角转动,可实现对复杂工件的五面精密加工。A novel five - axis linkage hybrid kinematics machine （HKM） which is composed of a 3 - DOF parallel kinematics mechanism and a 2 - DOF motion platform. The moving principle of this machine is ana- lyzed by using the screw theory. The kinematics characteristic of this HKM is analyzed by using the closed - vector method and velocity mapping. The inverse solution of position analysis is given. The position and orientation relationship between the actuating arm and the moving platform is determined. Then, the performance of the velocity and the orientation space is analyzed. The velocity Jacobian matrix of mechanism is obtained. The validity of the kinematics analysis of HKM is verified by the kinematics simulation. The research shows that machine with the structure can realize large pendulum angle of processing. The pendulum angle can reach . With the five -axis linkage and large pendulum angle rotation, the precision machining of complex workpiece with five surfaces can be achieved.

关 键 词：混联机床 螺旋理论 位置逆解 闭环矢量法 姿态空间 

分 类 号：TG659[金属学及工艺—金属切削加工及机床]