五轴联动混联机床插补算法的研究  

Research on interpolation algorithm of five-axis hybrid machine tool

作　　者：葛帅帅 李开明[1] Ge Shuaishuai;Li Kaiming(School of Mechanical Engineering, Nanjing University ofScience and Technology, Jiangsu Nanjing, 210094, China)

机构地区：[1]南京理工大学机械工程学院,江苏南京210094

出　　处：《机械设计与制造工程》2020年第12期96-100,共5页Machine Design and Manufacturing Engineering

基　　金：江苏省科技支撑计划-工业部分资助项目(BE2011193)。

摘　　要：提出了一种操作空间粗插补与关节空间精插补相结合的插补算法,用于五轴联动混联机床刀尖点运动轨迹的修正。该算法首先在操作空间进行粗插补后得到双摆头的摆动角度和动平台的位置,然后反解到关节空间进行进一步精插补得到各杆长变化曲线,从而控制刀尖点的运动轨迹。通过对五轴联动混联机床进行运动学分析,得出机床的正反解方程。对提出的插补算法在MATLAB中进行仿真验证,仿真结果表明了插补算法的有效性。An interpolation algorithm combining rough interpolation in operating space and fine interpolation in joint space is proposed for the correction of the movement trajectory of the tool tip of a five-axis hybrid machine tool.The algorithm first obtains the swing angle of the double pendulum head and the position of the moving platform according to the rough interpolation in the operating space.Then it is inversely solved to the joint space for further fine interpolation to obtain the change curve of each rod length,thereby controlling the movement trajectory of the tool tip point.Through the kinematics analysis of the five-axis linkage hybrid machine tool,the positive and negative solution equations of the machine tool are obtained.The proposed interpolation algorithm is simulated and verified in MATLAB,and the simulation results show the effectiveness of the interpolation algorithm.

关 键 词：混联机床 C-A型双摆头 粗插补 精插补 

分 类 号：TH112[机械工程—机械设计及理论]