并联机床轨迹控制方法的研究  

Trajectory control technique for the parallel machine tools

作　　者：孔德庆[1] 倪雁冰[1] 徐艳华[1] 黄田[1] 杨亚威[1] 

机构地区：[1]天津大学机械工程学院,天津300072

出　　处：《组合机床与自动化加工技术》2003年第1期46-48,共3页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：天津市重大科技攻关项目 (0 3 10 14 11)

摘　　要：针对三平动并联机床的结构特点 ,本文提出一种并联机床刀具轨迹控制虚实映射的插补策略 ,并给出了基于采用时间采样的直线、圆弧插补算法 ;根据机床加工和控制要求提出了在操作空间进行速度过渡算法 ,并总结出了采用光滑非光滑两种过渡的 16种方式。文章提出的方法计算简单、实用强 。Considering the construction characteristics of the tripod-based parallel machine tools, firstly, the interpolation algorithm is brought up in this paper which is implemented by two steps, i.e. the rough interpolation in the Cartesian space and the precise interpolation in the actuator space. Secondly, the algorithm of line interpolation and circle interpolation along the time axis is discussed. At last, the trajectory control technique in the Cartesian space for the different segment is presented, which includes 16 transition modes using smooth or not smooth transition methods. The algorithm in this paper is simple and practicable and has been successfully used in parallel machine tools.

关 键 词：并联机床 虚拟轴机床 轨迹控制 插补 

分 类 号：TG659[金属学及工艺—金属切削加工及机床]