新型五自由度并联机床机构学分析与控制系统开发
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摘要
并联机床作为一种全新构型的机床,与传统数控机床形成很强的互补。随着并联机床技术的进一步发展,少自由度并联机床逐渐显示出应有的潜力。5-UPS/PRPU五自由度并联机床是基于本课题组发明的新型少自由度5-UPS-X系列并联机床机构(专利公开号为 1371786)研制的,本文对该并联机床的基础理论和关键技术进行研究,主要包括以下几方面:
提出一种可以实现三维移动和两维转动的新型 5-UPS/PRPU 五自由度并联机床机构。利用运动螺旋理论和 D-H 参数法,确定了 PRPU 分支在运动中将始终约束动平台绕自身法线的转动,并求解出该分支关节变量与动平台位姿参数之间简单的解析运算关系,提出利用中间分支实时检测动平台位姿的方案。分析了机床的位置反解和速度正反解,推导了位置反解公式和速度公式,建立了适用于该机床的 5× 5雅可比矩阵,验证了并联机床的关节空间和工作空间之间的速度映射为一对一映射。最后对机床的工作空间、奇异性和灵巧性等运动学性能进行了描述。
分析了机床动平台在静态时的受力情况,建立了静力平衡方程,得到了静力传递矩阵,推导出作用在动平台上的 6 维外力负载与 5 个驱动力以及中间分支约束力偶矩的映射关系。
研究了机床主要构件的运动情况,建立了各构件运动速度与机床驱动轴运动速度的映射关系,推导了各构件的外力及其所产生的等效驱动力,利用虚功原理建立了反映机床驱动力与运动参数之间关系的动力学解析方程。
为并联机床开发了“嵌入式 NC”模式的双 CPU 数控系统,系统硬件采用开放式结构,由“工控 PC 机+运动控制卡 PMAC”构成。基于 Windows 平台开发的控制软件采用功能模块化设计方法,实现了机床的基本控制功能。研究了刀位轨迹粗插补、虚实映射变换、驱动轴速度控制及机床刀具位姿检测等机床运动控制算法。
参与研制了新型五自由度并联机床样机,并对机床进行了调试和加工实验。机床在加工过程中运动平稳,可操作性好,噪音低,振动小,实验结果表明该机床可实现复杂曲面的加工,验证了理论分析的正确性,基本达到了设计要求。
Parallel Machine Tool (PMT), a new-style machine tool, complements the traditional NC machine tool perfectly. With the development of the PMT technology, the potential of the lower-mobility PMT will be revealed. The 5-UPS/PRPU 5-DOF PMT is based on the novel lower-mobility parallel mechanism of 5-UPS-X series (Patent No. 1371786) invented by the project team. This paper focuses on the research of basic theory and key techniques of the PMT. The main contributions are as follows:
A novel 5-UPS/PRPU 5-DOF parallel mechanism is put forward, which can perform three translational DOF and two rotational DOF. By using kinematic screw theory and D-H parameter method, the rotational constraint along the vertical axis of the moving platform is confirmed by the PRPU limb. The computational relationship between the joint variables of the PRPU limb and the parameters of the pose of the moving platform is both concise and analytical. The scheme of measuring the pose of the moving platform in real time by means of the PRPU limb is brought forward. The inverse solution of the position and the forward and inverse solution of the velocity are analyzed. The kinematic inverse solution equation and the velocity equation are deduced. The 5× 5 Jacobian matrix of the PMT is established to prove that the velocity mapping between the joint space and the workspace of the PMT is one-to-one. The kinematic performances of the PMT, such as workspace, dexterity and singularity, etc, are described in brief.
The static force acted on the moving platform is analyzed. The static equilibrium equation is established and the force transfer matrix is obtained. The mapping relationship among the 6-dimension external load acted on the moving platform, five driving force and the constraining couple of the middle limb.
The kinematics of the main parts is analyzed and the velocity mapping relationships between the parts and the driving axis are established. The exterior force load and the equivalent driving force are educed. Finally the dynamics analytic equation about the relation between the driving force and the motional parameters of the PMT is obtained by using virtual work theory.
The “embedded NC” control system with parallel double-CPU is developed for the PMT. Open architecture composed of PC and PMAC is adopted for the system hardware. The control software, based on Windows Operating System, is designed with the
functional modularization. The basic control functions of PMT are realized. The algorithms for motion control are discussed in detail, such as coarse interpolation of the cutter location, the mapping between transforming the cutter location data to the length of driving axis, velocity control of the driving axis and pose measuring method of the cutter. The prototype of the novel 5 DOF PMT is developed. The debugging and machining experiments are performed. The better moving stability, better maneuverability, less noise, lower vibration, etc, are shown in the operation of the PMT. The curved surface can be processed in the PMT. Theoretical analysis is proved to be correct and the expectant goal is attained by and large.
提出一种可以实现三维移动和两维转动的新型 5-UPS/PRPU 五自由度并联机床机构。利用运动螺旋理论和 D-H 参数法,确定了 PRPU 分支在运动中将始终约束动平台绕自身法线的转动,并求解出该分支关节变量与动平台位姿参数之间简单的解析运算关系,提出利用中间分支实时检测动平台位姿的方案。分析了机床的位置反解和速度正反解,推导了位置反解公式和速度公式,建立了适用于该机床的 5× 5雅可比矩阵,验证了并联机床的关节空间和工作空间之间的速度映射为一对一映射。最后对机床的工作空间、奇异性和灵巧性等运动学性能进行了描述。
分析了机床动平台在静态时的受力情况,建立了静力平衡方程,得到了静力传递矩阵,推导出作用在动平台上的 6 维外力负载与 5 个驱动力以及中间分支约束力偶矩的映射关系。
研究了机床主要构件的运动情况,建立了各构件运动速度与机床驱动轴运动速度的映射关系,推导了各构件的外力及其所产生的等效驱动力,利用虚功原理建立了反映机床驱动力与运动参数之间关系的动力学解析方程。
为并联机床开发了“嵌入式 NC”模式的双 CPU 数控系统,系统硬件采用开放式结构,由“工控 PC 机+运动控制卡 PMAC”构成。基于 Windows 平台开发的控制软件采用功能模块化设计方法,实现了机床的基本控制功能。研究了刀位轨迹粗插补、虚实映射变换、驱动轴速度控制及机床刀具位姿检测等机床运动控制算法。
参与研制了新型五自由度并联机床样机,并对机床进行了调试和加工实验。机床在加工过程中运动平稳,可操作性好,噪音低,振动小,实验结果表明该机床可实现复杂曲面的加工,验证了理论分析的正确性,基本达到了设计要求。
Parallel Machine Tool (PMT), a new-style machine tool, complements the traditional NC machine tool perfectly. With the development of the PMT technology, the potential of the lower-mobility PMT will be revealed. The 5-UPS/PRPU 5-DOF PMT is based on the novel lower-mobility parallel mechanism of 5-UPS-X series (Patent No. 1371786) invented by the project team. This paper focuses on the research of basic theory and key techniques of the PMT. The main contributions are as follows:
A novel 5-UPS/PRPU 5-DOF parallel mechanism is put forward, which can perform three translational DOF and two rotational DOF. By using kinematic screw theory and D-H parameter method, the rotational constraint along the vertical axis of the moving platform is confirmed by the PRPU limb. The computational relationship between the joint variables of the PRPU limb and the parameters of the pose of the moving platform is both concise and analytical. The scheme of measuring the pose of the moving platform in real time by means of the PRPU limb is brought forward. The inverse solution of the position and the forward and inverse solution of the velocity are analyzed. The kinematic inverse solution equation and the velocity equation are deduced. The 5× 5 Jacobian matrix of the PMT is established to prove that the velocity mapping between the joint space and the workspace of the PMT is one-to-one. The kinematic performances of the PMT, such as workspace, dexterity and singularity, etc, are described in brief.
The static force acted on the moving platform is analyzed. The static equilibrium equation is established and the force transfer matrix is obtained. The mapping relationship among the 6-dimension external load acted on the moving platform, five driving force and the constraining couple of the middle limb.
The kinematics of the main parts is analyzed and the velocity mapping relationships between the parts and the driving axis are established. The exterior force load and the equivalent driving force are educed. Finally the dynamics analytic equation about the relation between the driving force and the motional parameters of the PMT is obtained by using virtual work theory.
The “embedded NC” control system with parallel double-CPU is developed for the PMT. Open architecture composed of PC and PMAC is adopted for the system hardware. The control software, based on Windows Operating System, is designed with the
functional modularization. The basic control functions of PMT are realized. The algorithms for motion control are discussed in detail, such as coarse interpolation of the cutter location, the mapping between transforming the cutter location data to the length of driving axis, velocity control of the driving axis and pose measuring method of the cutter. The prototype of the novel 5 DOF PMT is developed. The debugging and machining experiments are performed. The better moving stability, better maneuverability, less noise, lower vibration, etc, are shown in the operation of the PMT. The curved surface can be processed in the PMT. Theoretical analysis is proved to be correct and the expectant goal is attained by and large.
引文
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