共查询到19条相似文献,搜索用时 46 毫秒
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新型混联虚拟轴机床的位置正解与工作空间分析 总被引:3,自引:1,他引:3
提出了以三自由度空间并联机构作为主进给机构,辅以双向移动工作台实现多坐标数控加工的一种新型混联虚拟轴机床的配置方案。建立了空间并联机构位置正解的封闭方程,分析了空间并联机构及其虚拟轴机床的工作空间,并给出了数值实例。 相似文献
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一种混联型虚拟轴机床的位置正确与工作空间分析 总被引:5,自引:0,他引:5
提出了以4自由度空间并联机构作为主进给机构,辅以双向移动工作台实现多坐标数控加工的一种混联型虚拟轴机床的配置方案,推导出了主进给机构位置正确的封闭方程,基于曲面分析方法分析了主进给机构及其虚拟轴机床的工作空间,并给出了数值实例。 相似文献
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针对机器人气囊抛光中抛光压力波动的问题,分析影响抛光压力稳定的因素,提出误差补偿法来降低抛光压力波动对加工面形的影响。首先,分析气囊抛光的运动过程,根据Preston方程建立材料去除函数模型,使用MATLAB对去除函数进行仿真分析。然后针对由机器人末端位置波动引入的系统误差,提出网格式误差补偿法,根据误差数据模型对加工点位进行即时修正,从而降低由机器人引入的抛光压力波动误差。实验数据表明:补偿后机器人末端位置X,Y方向误差波动值分别下降了86.2%,67.6%,机器人末端位置精度明显提高,最终加工面形精度的RMS为0.118λ。证明了该方法能够有效的减小抛光压力的波动,改善加工面形质量。 相似文献
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应用于模具自由曲面的新型气囊抛光技术 总被引:15,自引:1,他引:15
为提高模具自由曲面抛光的效率和品质,提出一种基于柔性抛光理念的新型气囊抛光技术。建立相应的机器人抛光系统,研究旋转型膨胀气囊抛光工具及抛光过程中各因素对抛光表面粗糙度的影响。对气囊抛光工具的位置和姿态控制问题以及抛光工具,以一定下陷深度和倾斜角度与被抛工件接触时的接触区域的相关特性进行分析。在机器人抛光系统上进行抛光正交试验和试验数据分析,获取表面粗糙度的不同影响因数的最优参数组合,试验中被抛光曲面平均表面粗糙度达到了0.007 μm。研究结果表明,气囊抛光技术可实现抛光工具与被抛光工件的大面积柔性接触,通过气囊内部气压的调节和机器人抛光系统对抛光工具的运动轨迹和姿态的精确控制,可有效地提升自由曲面抛光的品质和效率。 相似文献
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针对主动式、磁控型和磁流变型气囊抛光工具的不同结构特点和使用功能的有效集成问题,基于模块化理论,将产品需求多变性和主体结构标准化有效结合起来,充分利用共用性和组合优化效应,完成了模块化气囊抛光工具的设计,并为产品族规划打下了基础;开展了模块化基础理论、功能模块划分、结构细化设计和产品族规划等方面的分析与研究,通过柔性工作模块、磁场发生器模块、气控容腔模块、动力模块、连接板模块和传感测控模块等,充分保证了新型气囊抛光技术自动、柔性、可控、多变的特点;在以模块化气囊抛光工具为核心的机器人辅助模具自由曲面抛光平台上,进行了相关的试验研究。研究结果表明:将模块化气囊抛光工具应用于模具钢抛光,能获得Ra0.006μm的高质量表面。 相似文献
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The research on the parameters optimization for gasbag polishing machine tools, mainly aims at a better kinematics performance and a design scheme. Serial structural arm is mostly employed in gasbag polishing machine tools at present, but it is disadvantaged by its complexity, big inertia, and so on. In the multi-objective parameters optimization, it is very difficult to select good parameters to achieve excellent performance of the mechanism. In this paper, a statistics parameters optimization method based on index atlases is presented for a novel 5-DOF gasbag polishing machine tool. In the position analyses, the structure and workspace for a novel 5-DOF gasbag polishing machine tool is developed, where the gasbag polishing machine tool is advantaged by its simple structure, lower inertia and bigger workspace. In the kinematics analyses, several kinematics performance evaluation indices of the machine tool are proposed and discussed, and the global kinematics performance evaluation atlases are given. In the parameters optimization process, considering the assembly technique, a design scheme of the 5-DOF gasbag polishing machine tool is given to own better kinematics performance based on the proposed statistics parameters optimization method, and the global linear isotropic performance index is 0.5, the global rotational isotropic performance index is 0.5, the global linear velocity transmission performance index is 1.012 3 m/s in the case of unit input matrix, the global rotational velocity transmission performance index is 0.102 7 rad/s in the case of unit input matrix, and the workspace volume is 1. The proposed research provides the basis for applications of the novel 5-DOF gasbag polishing machine tool, which can be applied to the modern industrial fields requiring machines with lower inertia, better kinematics transmission performance and better technological efficiency. 相似文献
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本文提出一种新的机床位置误差灵敏度分析方法。首先基于多体理论和齐次变换矩阵建立了五轴龙门机床位置误差模型。其次通过截断傅里叶技术来表征与位置有关的几何误差参数,每个误差参数对位置误差的灵敏度值可表示为其傅里叶幅值平方。然后归一化处理,关键的几何误差参数为第2,3,8,15和26项误差。通过与传统的Sobol法对比,仿真结果表明两种灵敏度分析方法辨识的关键几何误差相同且灵敏度值相近。此外,本文提出的灵敏度分析计算效率优于传统Sobol法。最后为了验证关键几何误差的有效性,提出了一个关于机床关键几何误差的补偿实验。实验结果表明,补偿关键几何误差后机床的加工精度提升了48%。因此,本文提出的机床位置误差灵敏度分析方法是可行的和有效的。 相似文献
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《机电工程》2014,(5):591-654
In order to solve the problems of reconstruct an unknown workpiece operations are always required by CAD information of workpiece which cause eeficiency low, operation complex and so on, the one which design and implementation of gasbag polishing operations which can automatically online reconstruct the geometry information of workpiece was investigated. The operation method of online reconstruction of a workpiece surface and the basic theory were introduced, in order to obtain the normal vector of workpiece surface. The outer ring of active compliance control based on the inner position loop was proposed, the position compensation at the end of the polishing manipulator was used to achieve the gasbag polishing contact force control. The contact force model of gasbag polishing was established. The trajectory planning algorithm with time-varying constraints was established. An experimental platform which is capable to reconstruct an unknown workpiece was built, the theory was simulated. The results indicate that this strategy is feasible and rffective. [ABSTRACT FROM AUTHOR] 相似文献
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混合型四自由度并联平台机构及其位置分析 总被引:4,自引:4,他引:4
为了丰富并联少自由度机器人的机型,本文提出了一种能实现空间三维移动和绕Z轴转动的并联机器人机构模型,该模型由三个TRT分支和一个SPS分支构成.文中采用螺旋理论分析了它能实现空间三维移动和绕Z轴转动的机构学原理,计算了它的自由度;给出了其位置反解的方法,推导出了位置正解的封闭方程,并进行了数值验证. 相似文献
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为了获得综合性能指标优良的六维力传感器,本文提出一种新型的基于Stewart平台的预紧式六维力传感器结构,并对其进行了位姿误差分析。首先以经典Stewart平台六维力传感器为比较对象,描述了此预紧式六维力传感器的结构特点;而后综合利用影响系数法和矢量法建立其位姿误差模型,进而定义位姿误差灵敏度指标并据此绘制误差灵敏度直方图以分析不同误差因素对传感器位姿误差的影响情况;最后研制出传感器样机并完成标定实验,实验结果表明该传感器测力精度在1%以内。所研究内容对六维力传感器的设计制造和实验标定具有理论指导意义。 相似文献
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Gasbag polishing is a kind of ultra-precision machining technology by means of flexible contact, while how to control the polishing contact force online is one of the key issues. In this paper, by analyzing the effect of downward depth and inflation pressure on the contact force experimentally, and then the coupling contact force model is developed. Thus, the predictions of polishing contact force and inflation pressure in terms of the nonlinear composite material of rubber gasbag can be obtained, which can be used to get the optional combination and controllable range of polishing contact force, and to construct the control system of coupling contact force as well. Experimental study shows that applying coupling contact force model to the control system of gasbag polishing contact force with BP neural network PID control strategy is a proper method, which realizes the polishing contact force controllable online and uniform surface quality of mold. 相似文献