一种3自由度并联机床的性能分析  

Performance Analysis of a 3-DOF Parallel Machine Tools

作　　者：杨应洪 尹显明 YANG Ying-hong;YIN Xian-ming(He Center of Engineering and Technology,Southwest University of Science and Technology,Sichuan Mianyang621010,China)

机构地区：[1]西南科技大学工程技术中心

出　　处：《机械设计与制造》2019年第10期134-139,共6页Machinery Design & Manufacture

基　　金：四川省教育厅自然科学基金项目(17zd1116)

摘　　要：混联机床同时兼顾了串、并联机构的优点,已越来越多的应用于复杂零部件的生产加工;提出一种3-RPS构型的三自由度并联机床,基于杆长条件建立了该机床位置反解方程,利用运动副速度投影求解了驱动杆速度输入变化规律,并推导了系统的雅克比矩阵;利用拉格朗日方程,求解了机床动力学模型;为后续对机床的运动学和动力学性能研究奠定了基础。最后结合原型机模型和Matlab对推导结果进行仿真,绘制了运动学和动力学曲线,总结出该机床运动学、动力学性能,结果表明该机床完全满足混联机床中并联模块的性能要求,并能满足航空、航天等复杂零部件和异形曲面的加工需求。Hybrid machine tools,which contains the advantages of both series and parallel mechanisms and used more and more widely in the manufacturing equipment for parts with complex structure.A 3-RPS spatial 3-DOF parallel machine tools was introduced.The inverse solution equation of the machine tool is established,based on the condition of rod length.The variation of the driving rod speed is solved by using the joints velocity projection and the Jacobi matrix was deduced.The dynamic model of the machine tools was established,based on the Lagrange’s equations,which lays the foundation for researching on kinematic and dynamic performance.Finally,combined with the prototype model and Matlab to simulate the results and drawn the kinematics and dynamics curve.Summed up the machine kinematics and dynamic performance which demonstrated that the 3-RPS machine tools is fully suitable for parallel part in hybrid machine tools and can fulfill the processing requirement of the complex free curved face or complex structure in aerial,space fields.

关 键 词：混联机床 并联机构 动力学模型 拉格朗日方程 

分 类 号：TH16[机械工程—机械制造及自动化] TH112