双转台五轴机床运动学分析及非线性误差研究  

Study on Kinematics Analysis and Non-Linear Error of a TATC Five-Axis Machine Tool

作　　者：覃智广[1] 陈洪容[1] 代艳霞[1] QIN Zhi-guang;CHEN Hong-rong;DAI Yan-xia(Yibin Vocational and Technical College,Sichuan Yibin 644003,China)

机构地区：[1]宜宾职业技术学院,四川宜宾644003

出　　处：《机械设计与制造》2018年第10期229-232,共4页Machinery Design & Manufacture

摘　　要：建立正确的A-C型五轴联动机床的WCS(工件坐标)和MCS(机床坐标)之间的矩阵转换关系,从而得出刀轴矢量和机床两个转轴的转角之间的映射方程,对于理解机床运动和CAM系统是至关重要的。由于旋转轴运动及CNC的平动轴线性插补、旋转轴跟随插补,导致五轴铣削过程会不可避免地产生非线性误差,详细分析了非线性误差产生的原因,舍弃线性插补而采用刀轴矢量平面插补,通过机床的逆运动学方程计算刀位的插补点和新的插补矢量,经CAM后处理系统转换成NC数控程序。最后给出一个实例进行分析和MATLAB仿真,验证了运动学推论和减小非线性误差策略的正确性。In this paper,the matrix transformation equation between the workpiece coordinate system(WCS)and the machine coordinate system(MCS)of the A-C five-axis linkage machine is established correctly,and the mathematical equation relationship between the tool axis vector and the angle of the machine A&C table is also deduced.Due to the two rotation axes and the linear interpolation principle of CNC,the non-linear error occurs in the process of five-axis linkage,and the root of the non-linear error process is analyzed.The tool axis vector plane interpolation algorithm is used to calculate the interpolation points and interpolation vectors by using the inverse kinematics method,and then CL data can beconverted into NC program by the CAM system.Finally,an example is given to analyze and simulate with MATLAB,and the correctness of the inference results and the non-linear error control strategy is verified.

关 键 词：运动学方程 齐次矩阵转换 后置处理 非线性误差 矢量坐标 

分 类 号：TH16[机械工程—机械制造及自动化]