新型6-PTS并联机床的性能分析
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摘要
本文对一种新型2-2-2 PTS正交结构六自由度并联机床进行了性能分析。
在已有研究成果的基础上，分析了一种由Stewart平台变异而成的新型正交六自由度并联机床的结构特点，论证了这种并联机床在其正交位姿是误差解耦的，选择正交位姿作为机床初始装配位姿，改善了机床的装配工艺性。
定义了该种并联机床运动学综合传递性能评价指标和静力学综合传递性能评价指标，并给出了各性能指标在定姿态工作空间内的分布情况。
采用微分法建立了该并联机床的误差模型，利用蒙特卡洛技术对终端平台进行了误差分析，并定义了误差灵敏度，以全面评估机床的精度特点。在精度综合工作中，本文采用一种基于蒙特卡洛方法的精度综合，该方法能较好地选择铰链的配合精度，且编程容易。
以机床的全域运动学综合传递性能指标、全域静力学综合传递性能指标和全域综合误差指标为评价指标，对该结构机床进行了参数设计。最后，利用计算机技术，对该机床进行了三维动态模拟。
本文的研究工作为这种新型并联机床的理论设计和误差补偿提供了理论依据。
The thesis focuses on the performance research on a novel type of 2-2-2 PTS orthogonal parallel machine tool.
A novel structure of 6-DOF parallel machine tool based on the Stewart platform mechanism is developed and its layout feature is presented according to the previous research results. The paper also shows that the novel parallel machine tool is characterized by decoupling error at its orthogonal position. By means of choosing the orthogonal position as the initial assembly position the assembly technological efficiency of the parallel machine tool is improved.
kinematics transmission evaluation critieria、mechanics transmission capacity evaluation critieria are defined. The distribution of the defined evaluation critieria of the 6-PTS parallel machine tool are presented on the constant-orientation workspace.
The error model of the parallel mechanism using a differential method is developed. The distribution on terminal platform errors is discussed using Monte-Carlo method, Moreover, error sensitivity is defined which is useful for the accuracy analysis. In the process of accuracy synthesis, Mente-Carlo method is used for calculating the moving platform’s mean error. The results show that this method is simply and easy to program.
Based on the workspace of a new 6- PTS parallel machine tool, geometry parameter of the parallel mechanism is optimized which depend on the glob kinematics、the glob mechanics and the glob equal errors.
The research in this paper are very useful for the design and error compensation of the parallel machine tool.
在已有研究成果的基础上，分析了一种由Stewart平台变异而成的新型正交六自由度并联机床的结构特点，论证了这种并联机床在其正交位姿是误差解耦的，选择正交位姿作为机床初始装配位姿，改善了机床的装配工艺性。
定义了该种并联机床运动学综合传递性能评价指标和静力学综合传递性能评价指标，并给出了各性能指标在定姿态工作空间内的分布情况。
采用微分法建立了该并联机床的误差模型，利用蒙特卡洛技术对终端平台进行了误差分析，并定义了误差灵敏度，以全面评估机床的精度特点。在精度综合工作中，本文采用一种基于蒙特卡洛方法的精度综合，该方法能较好地选择铰链的配合精度，且编程容易。
以机床的全域运动学综合传递性能指标、全域静力学综合传递性能指标和全域综合误差指标为评价指标，对该结构机床进行了参数设计。最后，利用计算机技术，对该机床进行了三维动态模拟。
本文的研究工作为这种新型并联机床的理论设计和误差补偿提供了理论依据。
The thesis focuses on the performance research on a novel type of 2-2-2 PTS orthogonal parallel machine tool.
A novel structure of 6-DOF parallel machine tool based on the Stewart platform mechanism is developed and its layout feature is presented according to the previous research results. The paper also shows that the novel parallel machine tool is characterized by decoupling error at its orthogonal position. By means of choosing the orthogonal position as the initial assembly position the assembly technological efficiency of the parallel machine tool is improved.
kinematics transmission evaluation critieria、mechanics transmission capacity evaluation critieria are defined. The distribution of the defined evaluation critieria of the 6-PTS parallel machine tool are presented on the constant-orientation workspace.
The error model of the parallel mechanism using a differential method is developed. The distribution on terminal platform errors is discussed using Monte-Carlo method, Moreover, error sensitivity is defined which is useful for the accuracy analysis. In the process of accuracy synthesis, Mente-Carlo method is used for calculating the moving platform’s mean error. The results show that this method is simply and easy to program.
Based on the workspace of a new 6- PTS parallel machine tool, geometry parameter of the parallel mechanism is optimized which depend on the glob kinematics、the glob mechanics and the glob equal errors.
The research in this paper are very useful for the design and error compensation of the parallel machine tool.
引文
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J. M. Fithter. Evaluating the Stewart Platform for Manufacturing. Robotics Today, 1993,6(1):1-3
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J. P. Merlet. Parallel Manipulators: State of the Art and Perspectives. Journal of Advanced Robotics, 1994,8(6):589-596
G. Pritschow, K. H. Wurst. Systematic Design of Hexpods and Other Parallel Link System. Annals of CIRP, 1997,46(1):291-295
李迎, 龚光容, 施祖康.虚拟轴机床的应用研究与发展趋势.机械设计与制造工程,1999,28(3):2-4
汪劲松, 黄田.并联机床——机床行业面临的机遇与挑战.中国机械工程,1999,10(10):1103-1107
关浩, 胡萍, 于云满.21世纪新兴机床——虚拟轴并联机床.江苏机械制造与自动化,2001,(4):17-18
周凯.虚拟轴机床发展动态与应采取的对策.江苏机械制造与自动化,2000,(2):7-11
陈文家, 王洪光, 房立金,等.并联机床的发展现状与展望.机电工程,2001,18(4):5-8
杨建新, 郁鼎又, 王立,等.并联机床研究现状与展望.机械设计与制造工程,2002,31(3):10-12
周凯.虚拟轴机床的发展趋势－混联机床.现代制造工程,2002,(3):5-7
黄田, 汪劲松.并联机床设计基础理论研究进展.中国科协青年科学家论坛论文集.北京:航空工业出版社,1999:25-38
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刘新军, 王劲松, 高峰,等.并联机器人机构新构型设计的探讨.中国机械工程,2001,12(12):1339-1343
袁剑雄, 王知行, 李建生.并联机床电主轴干涉校验.机械科学与技术,2001,20(4): 563-565
祃琳, 黃田, 王洋,等.面向制造的并联机床精度设计.中国机械工程,1999,10(10): 1114-1118
刘文涛, 李建生, 祁勇,等.并联杆系机床工作空间与精度分析.制造技术与机床,1998,11:9-11
The cutting Edge of Machine Tools. Manufacturing Engineering, 1998,10:20-22
The national Institute of Standards and Technology of United States. Sandia Hexapod Project——Technical Plan. 1996:1-6
L. Molinari Tosatti, G. Bianchi, I.Fassi, C.R.Boer, F.Jovane. An Integrated Methodology for the Design of Parallel Kinematic (PKM). Annals of the CIRP, 1998, 47(1):341-345
H J Warnecke, R Neggebauer, F Wieland. Development of Hexapod Based Machine Tool. Annals of the CIRP, 1998,47(1): 337-340
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金振林, 王军, 高峰.新型6—PSS并联机器人工作空间分析.中国机械工程,2002,13(13):1088-1090
高峰, 金振林, 刘辛军.六自由度并联解耦结构微动机器人.中国发明专利:CN1258589A , 2000
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方跃法, 黄真.并联机器人机构学研究进展.机器人,1995,18(4):221-225
黄真, 高峰.从并联机器人研究看知识创新和技术创新.机械工程学报,2000,36(2):18-20
文福安, 梁崇高.平台型并联机构的特性分析.第九届中国机构学学术讨论会论文集,1994:247-250
韩林, 文福安, 梁崇高.6-5平台型机型机构的位置正解.北京邮电大学学报,1998,21(2):33-37
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J. P. Merlet, C. M. Gosselin, N. Mouly. Workspace of Planar Parallel Manipulators. Mechanism and Machine Theory, 1998, 33:7-20
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黄田, 汪劲松, D. J. Whitehouse. Stewart并联机器人局部灵活度和各项同性条件解析.机械工程学报,1999,35(5):41-46
赵铁石, 黄真.一种三维移动并联平台机构的运动学分析.中国机械工程,2001,12(6):613-615
K. H. Hunt. Structural Kinematics of In-Parallel-Actuated Robot-Arms. ASME J. Mech. Transmission and Automation in Design, 1983,105(4):705-712
Feng Gao. The Relationships Between the Shapes of the Workspaces and the Link Lengths of 3-DOF Symmetrical Parallel Manipulators. Mechanism and Machine Theory, 2001,36(2):205-220
Q. Y. Wang, etc. Design and Kinematics of a Parallel Manipulator for Manufacturing. Annals of CIRP, 1997,46(1):297-300
金振林, 赵现朝, 高峰.新型并联机床的柔度指标及其在工作空间内分布研究. 中国机械工程,2002,13(3):184-186
熊有伦.机器人学.北京:机械工业出版社,1993:107-113
金振林, 高峰, 李金良.并联3-2-1结构新型微操作手及其承载能力分析.中国机械工程,2002,13(2):105-108
Q. Y. Wang, etc. Design and Kinematics of a Parallel Manipulator for Manufacturing. Annals of CIRP, 1997,46(1):297-300
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O. Masofy, J. Wang. Workspace Evaluation of Stewart Platform. ASME, 1992, 45:337-346
C. M. Gosselin. Determination of the Workspace of 6-DOF Parallel Manipulators. Journal of Mechanical Design, 1990, 112:331-336
J. P. Merlet, C. M. Gosselin, N. Mouly. Workspace of Planar Parallel Manipulators. Mechanism and Machine Theory, 1998, 33:7-20
K. Cleary, T. Arai. A Prototype Parallel Manipulator: Kinematics Constructure, Software, Workspace Results and Singularity Analysis. IEEE Int Conf. on Robotics and Automation, 1991:566-571
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J. M. Fithter. Evaluating the Stewart Platform for Manufacturing. Robotics Today, 1993,6(1):1-3
Katsumi Suzumori. A Six-axis Motion Base and A Study of A Parallel Manipulators. Advanced Robotics. 1994,8(6):609-610
J. P. Merlet. Parallel Manipulators: State of the Art and Perspectives. Journal of Advanced Robotics, 1994,8(6):589-596
G. Pritschow, K. H. Wurst. Systematic Design of Hexpods and Other Parallel Link System. Annals of CIRP, 1997,46(1):291-295
李迎, 龚光容, 施祖康.虚拟轴机床的应用研究与发展趋势.机械设计与制造工程,1999,28(3):2-4
汪劲松, 黄田.并联机床——机床行业面临的机遇与挑战.中国机械工程,1999,10(10):1103-1107
关浩, 胡萍, 于云满.21世纪新兴机床——虚拟轴并联机床.江苏机械制造与自动化,2001,(4):17-18
周凯.虚拟轴机床发展动态与应采取的对策.江苏机械制造与自动化,2000,(2):7-11
陈文家, 王洪光, 房立金,等.并联机床的发展现状与展望.机电工程,2001,18(4):5-8
杨建新, 郁鼎又, 王立,等.并联机床研究现状与展望.机械设计与制造工程,2002,31(3):10-12
周凯.虚拟轴机床的发展趋势－混联机床.现代制造工程,2002,(3):5-7
黄田, 汪劲松.并联机床设计基础理论研究进展.中国科协青年科学家论坛论文集.北京:航空工业出版社,1999:25-38
周廷佑, 林益耀.发展中的六条腿机床.机械制造,1998,10:4-8
J. L. Zhang, J. M. Zhang. Mathematics model study of parallel connected machine tool based Stewart mechanism. 5International Conference on Mechatronics and Vision in practice. China,1998,57-60
刘新军, 王劲松, 高峰,等.并联机器人机构新构型设计的探讨.中国机械工程,2001,12(12):1339-1343
袁剑雄, 王知行, 李建生.并联机床电主轴干涉校验.机械科学与技术,2001,20(4): 563-565
祃琳, 黃田, 王洋,等.面向制造的并联机床精度设计.中国机械工程,1999,10(10): 1114-1118
刘文涛, 李建生, 祁勇,等.并联杆系机床工作空间与精度分析.制造技术与机床,1998,11:9-11
The cutting Edge of Machine Tools. Manufacturing Engineering, 1998,10:20-22
The national Institute of Standards and Technology of United States. Sandia Hexapod Project——Technical Plan. 1996:1-6
L. Molinari Tosatti, G. Bianchi, I.Fassi, C.R.Boer, F.Jovane. An Integrated Methodology for the Design of Parallel Kinematic (PKM). Annals of the CIRP, 1998, 47(1):341-345
H J Warnecke, R Neggebauer, F Wieland. Development of Hexapod Based Machine Tool. Annals of the CIRP, 1998,47(1): 337-340
Gosselin C M. Determination of the Workspace of 6-DOF Parallel Manipulators. ASME Journal of Mech.Des. 1990,112:331-336
金振林, 王军, 高峰.新型6—PSS并联机器人工作空间分析.中国机械工程,2002,13(13):1088-1090
高峰, 金振林, 刘辛军.六自由度并联解耦结构微动机器人.中国发明专利:CN1258589A , 2000
高峰, 金振林, 刘辛军.6自由度虚拟轴机床新结构.中国发明专利:CN 1261018A, 2000
方跃法, 黄真.并联机器人机构学研究进展.机器人,1995,18(4):221-225
黄真, 高峰.从并联机器人研究看知识创新和技术创新.机械工程学报,2000,36(2):18-20
文福安, 梁崇高.平台型并联机构的特性分析.第九届中国机构学学术讨论会论文集,1994:247-250
韩林, 文福安, 梁崇高.6-5平台型机型机构的位置正解.北京邮电大学学报,1998,21(2):33-37
O. Masofy, J. Wang. Workspace Evaluation of Stewart Platform. ASME, 1992,
45:337-346
C. M. Gosselin. Determination of the Workspace of 6-DOF Parallel Manipulators. Journal of Mechanical Design, 1990,112:331-336
J. P. Merlet, C. M. Gosselin, N. Mouly. Workspace of Planar Parallel Manipulators. Mechanism and Machine Theory, 1998, 33:7-20
K. Cleary, T. Arai. A Prototype Parallel Manipulator: Kinematics Constructure, Software, Workspace Results and Singularity Analysis. IEEE Int Conf. on Robotics and Automation, 1991:566-571
黄田, 汪劲松, D. J. Whitehouse. Stewart并联机器人局部灵活度和各项同性条件解析.机械工程学报,1999,35(5):41-46
赵铁石, 黄真.一种三维移动并联平台机构的运动学分析.中国机械工程,2001,12(6):613-615
K. H. Hunt. Structural Kinematics of In-Parallel-Actuated Robot-Arms. ASME J. Mech. Transmission and Automation in Design, 1983,105(4):705-712
Feng Gao. The Relationships Between the Shapes of the Workspaces and the Link Lengths of 3-DOF Symmetrical Parallel Manipulators. Mechanism and Machine Theory, 2001,36(2):205-220
Q. Y. Wang, etc. Design and Kinematics of a Parallel Manipulator for Manufacturing. Annals of CIRP, 1997,46(1):297-300
金振林, 赵现朝, 高峰.新型并联机床的柔度指标及其在工作空间内分布研究. 中国机械工程,2002,13(3):184-186
熊有伦.机器人学.北京:机械工业出版社,1993:107-113
金振林, 高峰, 李金良.并联3-2-1结构新型微操作手及其承载能力分析.中国机械工程,2002,13(2):105-108
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