共查询到19条相似文献,搜索用时 140 毫秒
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五自由度并联机床的误差分析 总被引:2,自引:0,他引:2
基于三杆五自由度并联机床机械结构,建立了误差分析数学模型。通过对并联机床静态误差分析,得到固定平台铰链点位置误差、伸缩杆长度误差对活动平台中心点位置误差影响的显式表达式,以及活动平台的姿态误差对活动平台中心点位置误差影响的显式表达式,为并联机床实时误差补偿提供了理论基础。 相似文献
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新型五坐标并联机床的机构学及运动学 总被引:6,自引:1,他引:5
提出一种新型的五自由度并联机床,由于结构上的特殊设计,它比传统的并联机床具有更高的精度和刚度,更大的工作空间。主要介绍了所提出的并联机床的机构学和运动学,包括运动学的正逆解算法。 相似文献
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基于串联机构与并联机构的不同特性以及伺服电机的优良控制特性,设计了一种串并联混合的五自由度运动平台,通过对平台并联机构的动力学分析,提出一种3-RPS并联机构正解几何算法。设计了基于C#语言的控制系统,并对系统的硬件与软件进行了介绍,控制系统可以实现平台运动范围内的精确控制,测试结果显示:平台平动定位精度优于10μm,转动定位精度优于0.01°。 相似文献
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针对3D打印快速成型技术的性能需求,提出了一种基于3-UPU型三自由度3D打印并联机器人。对其中的3-UPU并联机构进行了运动学分析,在此基础上建立误差正解模型,考虑驱动副杆长误差和铰链间隙误差的影响因素,运用Monte-Carlo法分析了动平台末端精度的频数分布,求得了许用精度范围内的置信概率,为提高3D打印并联机器人机构末端的输出精度提供了重要依据,在生产制造业快速发展的主流技术中具有重要的研究意义与应用推广价值。 相似文献
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五自由度摇摆台位置正解方法研究及 MATLAB实现 总被引:1,自引:0,他引:1
研究一种实用非对称五自由度摇摆台的位置正解算法.把描述五自由度摇摆台的一组非线性方程组的求解问题转化成对函数的优化问题,采用粒子群优化算法和Newton迭代法相结合的方法求解问题,并采用粒子群算法工具箱实现了五自由度摇摆台的位置正解.通过比较试验结果,发现采用PSO算法和Newton迭代法相结合的方法在精度方面比单纯采用PSO算法高,并且兼顾了实时性的要求. 相似文献
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由于应用于特种行业及复杂工程领域的爬行机器人研究的重要性,在设计出一种双足磁吸附五自由度爬行机器人机械系统的基础上,以该五自由度爬行机器人的机构为研究对象,运用D-H参数法进行其运动模型构建,并通过矩阵变换,推导出了该机器人的正运动学解的齐次矩阵,并通过数学求解求出其逆解,然后采用MATLAB对该机器人的运动数学模型进行仿真分析,得出其正解和逆解。将仿真结果与计算结果进行对比分析,验证了所建立的五自由度爬行机器人运动模型的正确性。该研究对于开发五自由度爬行机器人的控制系统及控制策略,以及它在具体工程实践中的应用具有重要的研究基础作用。 相似文献
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It is well known that the shape and volume of the workspace are one of the greatest weaknesses of parallel kinematic machine tools (PKM). Hexaglide and Triaglide mechanisms are examples where workspace extension is achieved by elongating one axis as a principal motion axis that is a common feature of all Cartesian machines. With the idea of principal axis of motion in mind, a new 3-DOF spatial parallel mechanism for horizontal and vertical milling machines has been developed. In comparison with similar developed mechanisms it has several advantages such as: rather regular shape of the workspace (slightly modified block) similar to serial machines; greater stiffness by nature of the struts arrangement; good force and speed ratio through the entire mechanism's workspace. The paper describes the structure of the mechanism, modelling approach and simulation on a developed vertical milling machine prototype. 相似文献
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This paper presents a novel 4-DOF hybrid parallel kinematic machine (PKM), named Bicept, comprising a 2-DOF parallel mechanism plus a 2-DOF rotating head. The PKM is designed as a rigid yet compact module that can act as a robot cell moving along a long track for aircraft structural component assembly, a wing box for example. Dimensional synthesis of the 2-DOF parallel mechanism is carried out to achieve a relatively good kinematic performance within a prescribed task workspace that has a large width/height ratio. Then, using commercial CAE software, rigid body dynamics and stiffness analyses are carried out for motor sizing and performance evaluation of a full-size virtual prototype. 相似文献
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新型并联机床的力/运动传递各向同性性能及其分布 总被引:4,自引:1,他引:3
以并联机器人机构为原型的并联机床,其力/运动传递各向同性性能是随其运动平台的位姿变化而变化的。本文应用并联机器人机构学理论,提出基于6-SPS并联三维平台机构的新型6自由度并联机床的力/运动传递各向同性性能评价指标,并给出这些指标在定位姿工作空间内的分布情况,这对该结构形式的并联机床的设计及其任务规划和控制有重要意义。 相似文献
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Parallel milling allows to increase the manufacturing capacity in industry due to a higher cutting productivity. The latter is often negatively influenced by dynamical instabilities of the parallel milling process entailing a reduced profitability. In this paper a holistic model of interactions between a double spindle machine and a parallel milling process is presented that enables an identification of the dynamic compliance of parallel milling machines and a simulation of their stability behaviour. With that an investigation of stability optimization means is possible. A significant improvement of the process stability and, thus, the effective cutting productivity was observed in the parallel milling processes, optimized with help of the holistic model. 相似文献
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在机械加工中,常会遇到与机床主轴不垂直的空间大斜孔系的铣削加工。在三轴联动的数控镗铣床上,采用万向角度铣头改变机床主轴方向,使孔轴线与铣刀轴线一致,运用空间几何建立各加工变量之间的数学模型,实现空间斜孔铣削加工数控程序参数化。结果表明:只需一次装卡工件,赋予相应变量值,就可完成孔系的加工。该方法的加工精度高,省工省力,可推广到类似空间斜面、倾斜槽的加工。 相似文献
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Parallel kinematics machine has attracted attention as machine tools because of the outstanding features of high dynamics and high stiffness. Although various calibration methods for parallel kinematics machine have been studied, the influence of inaccurate motion of joints is rarely considered in these studies. This paper presents a high-accuracy and high-effective approach for calibration of parallel kinematics machine. In the approach, a differential error model, an optimized model and a statistical method are combined, and the errors of parallel kinematics machine due to inaccurate motion of joints can be reduced by this approach. Specifically, the workspace is symmetrically divided into four subspaces, and a measurement method is suggested by a laser tracker to require the actual pose of the platform in these subspaces. An optimized model is proposed to solve the kinematic parameters in symmetrical subspaces, and then arithmetical mean method is proposed to calculate the final kinematic parameter. In order to achieve the global optimum quickly and precisely, the initial value of the optimal parameter is directly solved based on the differential error model. The proposed approach has been realized on the developed 5-DOF hexapod machine tool, and the experiment result proves that the presented method is very effective and accurate for the calibration of the hexapod machine tool. 相似文献