新型非对称打磨并联机构运动学分析与仿真  

Kinematics Analysis and Simulation of a New Asymmetric Grinding Parallel Mechanism

作　　者：赵新华[1,2] 戴腾达 刘凉[1,2] 冯建峰 张青云[1] ZHAO Xin-hua;DAI Teng-da;LIU Liang;FENG Jian-feng;ZHANG Qing-yun(Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control,Tianjin University of Technology,Tianjin 300384,China;National Demonstration Center for Experimental Mechanical and Electrical Engineering Education,Tianjin University of Technology,Tianjin 300384,China)

机构地区：[1]天津理工大学天津市先进机电系统设计与智能控制重点实验室,天津300384 [2]天津理工大学机电工程国家级实验教学示范中心,天津300384

出　　处：《组合机床与自动化加工技术》2021年第4期4-9,共6页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：天津市教委科研计划项目(2017KJ259)。

摘　　要：针对并联机床在实现半圆形筒状工件打磨加工的高精度、快响应等需求,提出一种新型的三自由度的非对称并联打磨机构。首先,介绍了该机构的结构特征,并基于螺旋理论等对机构自由度进行分析;其次,应用闭环矢量法建立各构件之间的运动学关系,利用MATLAB软件对其位置、速度进行数值仿真分析;最后,采用Unigraphics NX 10.0和ADAMS软件建立了该机构的虚拟样机模型,并对其运动学进行虚拟样机仿真分析。结果表明:不同支链运动规律不同,但各支链位移和速度均变化平滑、无突变现象,且同等条件下,对比分析可知,数值仿真模型与虚拟样机仿真模型结果一致,从而印证了所建模型的正确性,为后续的动力学研究及控制提供参数参考。Aiming at the needs of parallel machine tools to realize the high-precision and fast response of semi-circular cylindrical workpiece grinding,a new three-degree-of-freedom asymmetric parallel grinding mechanism is proposed.First,the structural characteristics of the mechanism are introduced,and the degrees of freedom of the mechanism are analyzed based on the screw theory;Second,the closed-loop vector method is used to establish the kinematic relationship between the components,and the MATLAB software is used to perform numerical simulation and analysis on its position and speed.Finally,the virtual prototype model of the mechanism is established by Unigraphics NX10.0 and ADAMS software,and its kinematics is simulated and analyzed.The results show that different branch chains have different motion laws,but the displacement and velocity of each branch chain change smoothly without mutation.And under the same conditions,the analysis results of the numerical simulation model and the virtual prototype simulation model are consistent,which confirms the correctness of the built model and provides parameter reference for subsequent dynamics research and control.

关 键 词：打磨并联机构 螺旋理论 运动学 虚拟样机 仿真分析 

分 类 号：TH112[机械工程—机械设计及理论] TG506[金属学及工艺—金属切削加工及机床]