新型龙门式五轴联动混联机床机构设计及位置逆解研究  

Research of the Mechanism Design and Inverse Kinematics of a Novel Five-Axis Gantry Hybrid Machine Tool

作　　者：王俊彦[1] 苗鸿宾[1] 倪璟 

机构地区：[1]中北大学机械与动力工程学院,山西太原030051 [2]太原铁路机械学校,山西太原030006

出　　处：《机械传动》2017年第1期31-35,121,共6页Journal of Mechanical Transmission

基　　金：山西省留学回国人员项目基金(2015-077)

摘　　要：提出了一种以新型四自由度并联机构(3-RPR+R)&UPS作为并联加工模块,辅以能实现并联加工模块滑动的直线导轨来共同实现五坐标联动加工的一种新型龙门式大摆角混联机床的机构设计方案。首先,运用螺旋理论中运动和约束的关系分析了该机床实现3T2R运动原理,计算出该机构的自由度,进行了输入选取;然后,利用解析矢量法及几何关系建立机构位置逆解方程;最后,应用MATLAB对逆解方程进行求解,并利用ADAMS对求解结果进行仿真验证,验证了逆解模型的正确性及机构的可行性。A structure scheme for a novel 3T2R gantry hybrid machine tool （HMT） is proposed. In thisscheme, a novel （3 - RPR ＋ R＆UPS parallel mechanism is proposed as the parallel processing module,which can realize four motiong with assistance of a direction linear guide, 5 - axis machining can be realized.Firstly, the three - dimensional translations and two - dimensional rotations motion of this machine tool are ana-lyzed based on screw theory of motion and constraints. The DOF of the mechanism is calculated, and the driving joints are chosen. Then, the inverse position solution equation of the mechanism is built by using analytical vec- tor method and the geometric relation. At last, the position inverse solution equation is solved by using MAT- LAB and the results simulation verification is carried out by using ADAMS, which verify that the correctness of the inverse displacement analysis model and the feasibility of the mechanism.

关 键 词：龙门混联机床 大摆角 自由度 旋量理论 位置逆解 

分 类 号：TG502.1[金属学及工艺—金属切削加工及机床]