三杆混联数控机床的运动学研究

介绍了一种3-TPS(RRR)型混联机床,该机床既可进行立式加工,将工作头旋转一定角度后又可实现卧式加工。在工作头下面安装一个数控转台,并配置自动换刀系统后,机床可进化为一台五轴联动的数控加工中心。在分析其约束机构的基础上,给出了机构的位置、速度、加速度逆解方程及雅可比矩阵的计算公式,并进行了机床的工作空间分析。理论分析表明,3-TPS(RRR)型混联机床运动学方程形式简洁,计算简单,控制计算方便,在运动空间内无运动干涉和耦合,无奇异点和不定形位,可操作性良好,有效工作空间大。

Study on Kinematics of a Three-chain Hybrid CNC Machine Tool

A 3-TPS (RRR) hybrid machine tool was introduced. This machine tool can work vertically as well as horizontally when the milling head was rotated at some angle. It become a 5-DOF numerical control machining center when a numerical control revolving table and an cutter auto-exchange system were equipped. The kinematics problems of the machine tool were studied. Corresponding position, velocity, acceleration inverse kinematics equations and formula of the Jacobian matrix were deduced by analyzing the parallel locking chain. Workspace of the machine tool was also studied. Theoretical analyses show that the kinematics equations of this machine tool are very simple. It is easy to accomplish its real-time control. There are no moving interference and coupling and there is no singularity configuration in the whole motion space of this machine. The effective workspace of the machine is enough.