一种五轴联动混联机床的性能分析  

Performance Analysis of a Five-axis Linkage Hybrid Machine Tool

作　　者：覃才友 黄娟 李小汝[1,2] Qin Caiyou;Huang Juan;Li Xiaoru(Sichuan Provincial Engineering Laboratory of Super Alloy Cutting Technology,Deyang 618000,China;Department of Mechanical and Electronic Engineering,Sichuan Engineering Technical College,Deyang 618000,China)

机构地区：[1]四川省高温合金切削工艺技术工程实验室,四川德阳618000 [2]四川工程职业技术学院机电工程系,四川德阳618000

出　　处：《机械传动》2019年第2期122-128,共7页Journal of Mechanical Transmission

基　　金：四川省科技支撑计划(2017RZ0062)

摘　　要：混联机床是串、并联机构以及机器人技术的结合,兼顾了各自优点,已越来越多地应用于复杂工件的加工中。提出一种可完成五轴联动的混联机床,同时分析该机床加工过程的实现及原理;基于并联模块中杆长约束条件,构建加工过程中的运动学模型;并利用速度投影,求解出并联模块雅可比矩阵;结合拉格朗日方程以及雅可比矩阵,建立机床动力学模型。最后结合Matlab对理论分析结果进行数值计算,并在已知机床切削量的情况下,求解机床驱动端位移、速度以及驱动力输入情况;结合运动学结果,对机床工作空间进行了分析。结果表明,该混联机床具有良好的运动学、动力学以及大范围工作空间等性能,并能满足复杂零部件的加工,也为混联机床的开发和研究提供理论依据。Hybrid machine tool is a combination of series,parallel mechanism and robotics,which contains the advantages of them and used more and more widely in the manufacturing equipment for parts with complex structure.A five-axis linkage hybrid machine tool is proposed,and the realization and principle of manufacturing process and principles are analyzed.Based on the constraint of rod length in parallel modules,the kinematics model in machining process is established.Based on the velocity projection,the Jacobi matrix of parallel modules is solved.The dynamics model of the machine tool is established which based on the Lagrange equations and Jacobi matrix.Finally,the theoretical analysis results are calculated by Matlab.The required machine driving displacement,speed and force is being solved in the case of known machine tool cutting amount.Combined with kinematics results,the machine tool workspace is analyzed.The results show that the hybrid machine tool has good kinematics,dynamics and large workspace and other performance,and can meet the complex parts processing,but also provide a theoretical basis for the development of hybrid machine tool.

关 键 词：混联机床 并联模块 雅可比矩阵 拉格朗日方程 

分 类 号：TG65[金属学及工艺—金属切削加工及机床]