新型3T2R龙门式混联机床动力学模型

发布时间：2018-05-30 00:15

本文选题：龙门混联机床 + 奇异性　；参考：《机械工程学报》2016年15期

【摘要】：提出了一种以能实现沿X、Z轴平移和绕X、Y轴转动的新型并联机构2-RPU2-UPS作为主体,辅以能实现主体Y轴滑动的直线导轨来共同实现五坐标联动加工的一种新型龙门式混联机床的机构设计方案。运用螺旋理论分析了该机床实现3T2R运动原理,计算出该机床的自由度,进行输入选取与论证,并进行机床机构奇异分析,提出减少奇异的参数设计条件。建立该机床的位置反解数学模型,推导出了该机床的速度雅可比矩阵和加速度分析表达式,求解了该机床的位置反解、速度和加速度。基于虚功原理和该机床的运动学模型建立该机床的动力学模型,并采用Adams软件对该机床动力学进行模拟仿真,模拟结果表明理论结果完全正确。
[Abstract]:In this paper, a new type of parallel mechanism 2-RPU2-UPS, which can translate and rotate along the axis of XNZ and rotate around the axis of XY, is proposed as the main body. A new type of gantry hybrid machine tool is designed with a linear guide rail which can realize the sliding of the main body Y axis to realize the five-coordinate linkage machining together. The principle of realizing 3T2R motion of the machine tool is analyzed by spiral theory, the degree of freedom of the machine tool is calculated, the input selection and demonstration are carried out, and the singularity analysis of the machine tool mechanism is carried out, and the parameter design conditions to reduce the singularity are put forward. The mathematical model of the position inverse solution of the machine tool is established, the velocity Jacobian matrix and the acceleration analysis expression are derived, and the position inverse solution, velocity and acceleration of the machine tool are solved. Based on the principle of virtual work and the kinematics model of the machine tool, the dynamic model of the machine tool is established, and the dynamics of the machine tool is simulated by Adams software. The simulation results show that the theoretical results are correct.
【作者单位】：中北大学机械与动力工程学院;
【基金】：国家自然科学基金资助项目(51275486)
【分类号】：TG502

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