交叉杆型并联机床运动学及Kane动力学研究

发布时间：2018-06-03 18:40

本文选题：李群李代数 + 并联机床　；参考：《江苏科技大学》2011年硕士论文

【摘要】：目前,叶片、叶轮等复杂不规则曲面零件有不少已采用本身具有多轴联动的特征的并联机床来加工。2009年瑞典艾克斯康公司研制并投入实际生产的新一代并联机床EXCHON 700已经表明并联机床可以部分代替传统的五轴联动加工中心来加工复杂不规则曲面零件,而且效率和精度相比都有很大优势。由于并联机床本身结构的简单性,其价格比五轴联动加工中心要便宜很多,但是由于技术上的垄断,其实际价格与五轴联动加工中心相比还要昂贵。所以消化和应用并联机床的技术,研究并联机床的有关问题很有意义。本文的主要研究内容如下: 哈尔滨量具刃具集团生产的6-SPS型七轴六联动交叉杆型并联机床为对象,分析了交叉杆型并联机床的运动学问题和动力学问题,并重点研究了运动学正解的难题和动力学问题。在运动学研究的基础上,探索了并联机床加工复杂曲面、曲线的插补问题和进给伺服控制问题,提出了并联机床数控系统的设计方案。在运动学研究中,采用李群李代数作为数学工具,提出了并联机床运动学反解的快速而直观的几何算法,为加工复杂曲面问题提供了基本工具。由于李群李代数的引入,并联机床运动学正解可以转化为运动学的反解问题,基本解决了并联机床运动学正解的难题。在运动学分析的基础上,研究了并联机床插补螺旋线的问题。提出了采用泰勒级数和扩展数字积分法来插补螺旋线的方法,给出了加工精度对于进给速度的限制,并分析了插补算法的流程。在插补算法的基础上,研究了并联机床进给伺服系统的实现问题,拟采用FANUC公司开发的数控位置伺服控制卡来控制并联机床的伺服电机。并联机床动力学采用李代数和Kane方程来研究,引入了偏速度旋量,建立了旋量形式Kane动力学方程,并探讨了该方程的求解问题。最后建立虚拟样机,用商业动力学仿真软件Adams进行仿真,将仿真结果与本文采用的运动学正逆解法和动力学问题解法的分析结果进行了对比。
[Abstract]:At present, the leaves, Many complicated irregular curved surface parts, such as impeller, have been machined using parallel machine tools with their own characteristics of multi-axis linkage. The new generation parallel machine tool EXCHON 700, developed and put into production by Accom Company of Sweden in 2009, has shown that Parallel machine tools can partly replace traditional five-axis machining centers for machining complex irregular curved surfaces. And efficiency and precision have great advantages. The price of parallel machine tool is much cheaper than that of five-axis linkage machining center because of its simple structure, but because of the technical monopoly, its actual price is more expensive than that of five-axis linkage machining center. So it is very meaningful to digest and apply the technology of parallel machine tool and study the related problems of parallel machine tool. The main contents of this paper are as follows: In this paper, the kinematics and dynamics problems of 6-SPS type seven axis and six linkage cross rod parallel machine tool produced by Harbin measuring tool Group are analyzed, and the problems of kinematics forward solution and dynamics are emphatically studied. On the basis of kinematics research, the problems of machining complex curved surface, interpolation of curve and feed servo control are explored, and the design scheme of NC system of parallel machine tool is put forward. In kinematics research, using Li Qun lie algebra as mathematical tool, a fast and intuitionistic geometric algorithm for kinematics inverse solution of parallel machine tool is proposed, which provides a basic tool for machining complex surface problem. Because of the introduction of Li Qun lie algebra, the forward kinematics solution of the parallel machine tool can be transformed into the inverse solution of the kinematics, which basically solves the problem of the forward kinematics solution of the parallel machine tool. On the basis of kinematics analysis, the problem of interpolation helix of parallel machine tool is studied. The method of interpolation helix by Taylor series and extended digital integration method is proposed. The limit of machining precision to feed speed is given and the flow chart of interpolation algorithm is analyzed. On the basis of interpolation algorithm, the realization of feed servo system of parallel machine tool is studied, and the servo motor of parallel machine tool is controlled by the NC position servo control card developed by FANUC company. The dynamics of parallel machine tool is studied by using the lie algebra and Kane equation. The partial velocity spinor is introduced. The Kane dynamic equation in the form of spinor is established and the solution of the equation is discussed. Finally, a virtual prototype is built and simulated by commercial dynamics simulation software Adams. The simulation results are compared with the results of kinematics forward and inverse solution and dynamic problem solution.
【学位授予单位】：江苏科技大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH113

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