共查询到17条相似文献,搜索用时 62 毫秒
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并联机床数控系统软件开发 总被引:5,自引:1,他引:5
根据并联机床的特点,开发了一套具有自主知识产权的开放式并联机床系统,该系统是基于工业PC机和Windows98操作系统的单CPU数控系统,所有数控功能均由软件实现,对并联机床数控系统进行了软件模块划分,重点介绍了程序设计模块,加工及仿真模块,手动测量模块的主要功能,该数控系统提供了多种数据接口,参数化编程模块实现了代码自动生成;工件定位模块通过在工件基准平面内采集6点即可自动计算工件在机床坐标系的位置和姿态,实现了工件在机床坐标系任意位置的定位与加工。 相似文献
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在一台非冗余4自由度并联机床上添加一条具有主动驱动的冗余支链,构造4自由度驱动冗余并联机床,研究其控制策略。基于相应的非冗余并联机床的位置控制,对冗余机床的冗余支链采用力控制方式以控制冗余支链的内力,其他运动支链采用位置控制以保证机床的运动精度。在推导出控制系统传递函数的基础上,分别分析控制系统的稳定性、抗干扰能力和响应性能。最后将位置/力控制方式集成到冗余机床的数控系统中,并进行试验研究。通过机床沿圆形轨迹运动的轮廓误差试验证明此控制方式可以保证冗余并联机床和对应的非冗余机床具有相似的轮廓误差,而且冗余支链减小了非冗余伸缩支链中的间隙,从而证明了冗余支链力控制工程的有效性和可行性。 相似文献
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结合有限元法和子结构法建立了5-UPS/PRPU冗余驱动并联机床的弹性动力学模型。首先,将系统划分为不同的子结构,根据空间柔性梁理论求出单元动力学方程,根据关节特点将各个梁单元组装成各个驱动分支;根据分支与动平台的运动学/动力学约束,将各个分支进行装配,从而得到系统动力学方程。以5-UPS/PRPU冗余驱动并联机床作为算例,求出其动平台中心的动态响应特性。通过比较5-UPS/PRPU冗余驱动并联机床及5-UPS/PRPU非冗余驱动并联机床动平台的动态响应,可以得到结论:冗余驱动可以明显改善该机床弹性动力学特性,从而减小因弹性变形引起的误差。研究结果为结构设计人员进行结构设计及优化提供可靠的依据。 相似文献
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In this paper the effect of kinematic redundancy in order to reduce the singularity loci of the direct kinematics and to increase the operational, i.e., singularity-free, workspace is demonstrated. The proposed approach consists of additional prismatic actuators allowing one or more base joints to move linearly. As a result, a selective reconfiguration can be performed in order to avoid singular configurations. Exemplarily, kinematically redundant schemes of four structures, the 3RRR, the 3RPR, the 6UPS, and the 6RUS, are considered. The relationship between the redundancy and the operational workspace is studied and several analysis examples demonstrate the effectiveness of the proposed concept. Furthermore, the additional benefit of an increasing number of redundant actuators is discussed. 相似文献
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A new machine tool with parallel kinematic structure and a special Hooke’s joint of increased rigidity is described. The static rigidity of the machine tool is simulated. Nonuniformity of the rigidity distribution at characteristic points of the working space is analyzed with different directions of the cutting force. 相似文献
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平面两自由度驱动冗余并联机器人的运动及灵巧性分析 总被引:1,自引:0,他引:1
研究一种平面两自由度驱动冗余并联机器人的运动学求解,同时探讨了该并联机器人机构的工作空间,并绘制了工作空间的各种形状,在此基础上分析了该并联机器人机构的灵巧性,利用特例在其工作空间内绘制了灵巧性性能图谱,这些图谱是该并联机器人的机构设计的重要参考依据。 相似文献
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Milos Glavonjic Dragan Milutinovic Sasa Zivanovic Zoran Dimic Vladimir Kvrgic 《The International Journal of Advanced Manufacturing Technology》2010,46(1-4):51-60
Parallel kinematic machines (PKM) are still a research-and-development topic in many laboratories although many of them, unfortunately, have no PKM at all. Therefore, the use of a desktop educational 3-axis parallel kinematic milling machine is suggested as a help in the process of acquiring basic experiences in the field of PKM. The developed desktop educational 3-axis parallel kinematic milling machine is based on a newly developed 3-DOF spatial parallel mechanism. This paper describes the structure of the machine, modeling approach, and control and programming system based on PC Linux platform with real-time extension and EMC2 (the Enhanced Machine Controller) software system. 相似文献