基于D-H法的5-DOF串并联机床运动学分析  

Kinematics analysis of 5-DOF series-parallel machine tool based on D-H method

作　　者：刘守法[1] 王晋鹏[2] 李勇 张宁[1] 王鹏飞[1] LIU Shoufa;WANG Jinpeng;LI Yong;ZHANG Ning;WANG Pengfei(School of Mechanical Engineering,Xijing University,Xi an 710123,CHN;Shaanxi Engineering Laboratory for Transmissions and Controls,Northwestern Polytechnical University,Xi an 710072,CHN;Bochi Machine Tool Group Co.,Ltd.,Baoji 721013,CHN)

机构地区：[1]西京学院机械工程学院,陕西西安710123 [2]西北工业大学陕西省机电传动与控制工程试验室,陕西西安710072 [3]宝鸡机床集团有限公司,陕西宝鸡721013

出　　处：《制造技术与机床》2018年第11期110-115,共6页Manufacturing Technology & Machine Tool

基　　金：陕西省教育厅专项科研计划基金(15JK2172);国家科技重大专项高档数控机床与基础制造装备专项:面向航天复杂系统系列结构件制造换脑工程(2017ZX04011-010)

摘　　要：基于3-UPS并联机构,提出了一种新型的5-DOF串并联机床。在3-UPS并联机构的运动平台上增加一个可摆动刀具主轴,结合工作台旋转实现刀具与工件间5-DOF相对运动。基于D-H法建立该串并联机床的坐标系,并推导了正解和逆解运动方程。最后利用Matlab软件进行了仿真分析,仿真结果表明所推导的运动方程能够正确反映机床各位置参数之间的关系,验证了该运动方程的有效性和合理性。可为串并联机床的位姿控制精度补偿提供参考。Based on the 3-UPS parallel mechanism,proposed a new type of 5-DOF serial-parallel machine tool,which consisted of two parts,one part was the 3-UPS parallel mechanism mobile platform equipped with a swingable tool spindle,the other part was a rotatable workbench,the two parts made it possible for the serial-parallel machine tool to achieve 5-DOF relative motion between the tool and the workpiece.Based on the D-H method,the coordinate system of the series parallel machine tool was established and the forward kinematic equations and inverse kinematic equations were derived.Finally,the Matlab simulate software was used for simulation analysis.The simulation results show that the derived kinematic equations can correctly reflect the relationship between the position parameters of the machine tool and verify the validity and rationality of the kinematic equations.The results have reference value to the precision compensation of pose control of series-parallel machine tools.

关 键 词：串并联机床 D-H法 正解运动方程 逆解运动方程 MATLAB仿真 

分 类 号：TG54[金属学及工艺—金属切削加工及机床]