3-PRS并联气囊抛光机床的设计与研究
|
摘要
气囊抛光工艺方法是20世纪90年代伦敦光学实验室提出来的一种新的抛光方法。较传统的抛光技术而言,气囊式小工具抛光技术是一种实用、经济、高精度的抛光技术。现有的抛光机床都是传统型机床,而并联机构无论是从结构上还是功能实现上都是一种新型机构。并联机构具有精度高、刚度大、惯性小、承载能力高、运动反解模型简单、操作速度高、易于控制等特点。本文从气囊抛光方法出发,以3-PRS型并联机构为原型,对如何用并联机构来实现光学元件的气囊抛光进行了研究并对并联抛光机床的主要部分进行了结构设计。
3-PRS型并联机构为三自由度,其动平台在运动过程中除了绕中心的转动与Z方向上的移动以外,在X和Y向上还有偏移。以欧拉角和Z轴坐标就可以确定动平台的位姿,所以X和Y向上的偏移量与欧拉角是耦合的,经过计算得出了这两个方向上的偏移量与欧拉角的函数关系。对并联机构进行了静力分析。改变连杆长度与定平台半径长度来观察连杆的受力情况,根据连杆的受力情况选择了一组比较理想的定平台与连杆尺寸组合。用一种简洁的方法推导了该机构的正解和逆解。
在Pro/E中建立了机构的三维模型,并将其导入到ADAMS中仿真验证了机构的自由度,分析了机构的输入与输出之间的运动特性,重点验证了机构的位置正反解算法的正确性以及动平台与连杆的干涉情况。对机床的主要部分进行了结构设计并利用Pro/E中的有限元分析模块进行了机床的静刚度分析和模态分析。通过分析确定了机床受力的薄弱环节,研究了机床模态分析的各阶振型及其振动特性。
本文通过上述理论研究和分析,得出了一些初步的结论,为后续的研究工作奠定了基础,为该并联机床的设计与制造提供了理论依据。
Bonnet tool polishing is a new polishing method which was put forward by London optical laboratory in the 1990s. Comparing with the traditional polishing technology, Bonnet tool polishing is a practical, economic, precision polishing technology. The existing polishing machine tools are Traditional machine. But parallel mechanism is a new kind of organization no matter from its structure or its function. Parallel mechanism has high precision and stiffness, small inertia, high bearing capacity, the solution model is simple. It can operation in high speed and easy to control. From the method of Bonnet tool polishing, Take the 3 - PRS type parallel mechanism for prototype, have studied how to use parallel mechanism to realize Bonnet tool polishing and have designed the structure of the main part of the parallel polishing machine.
3 - PRS type parallel mechanism has three degrees. In the process of moving ,except the platform turning around the center and moving in Z direction, It also has some displacement in the X and Y direction. Euler Angle and Z axis coordinate can determine the pose of the moving platform. So the displacement in the X and Y direction are coupling with Euler Angles. Through calculation, I get the function between the displacement in the X and Y direction and Euler Angles. I did static analysis about the parallel mechanism. Change the connecting rod length and the radius of the fixed platform to study the force of the rod. According to the force of the connecting rod I chose an ideal group of size of the platform and the connecting rod. With a simple method I deduced the positive solution and the reverse solution of the parallel mechanism.
Established 3d model of the mechanism in Pro/E and interface it into ADAMS to simulation. Through this method, I verified the freedom degrees of the mechanism and studied the motion characteristics between input and output. The most important is that it verified the correctness of the positive solution and the reverse solution of the parallel mechanism and the interference between moving platform and the connecting rod. I did the structure design of the main part of the parallel machine and its static stiffness analysis and model analysis with finite element mechanical module of the Pro/E. Through the analysis, determine the weak link of the machine, studied the vibration characteristics of the machine.
Based on the theoretical study and analysis, get some preliminary conclusions and laid a foundation for the subsequent research work, provides theoretical basis for the design and manufacture of parallel machine tool.
3-PRS型并联机构为三自由度,其动平台在运动过程中除了绕中心的转动与Z方向上的移动以外,在X和Y向上还有偏移。以欧拉角和Z轴坐标就可以确定动平台的位姿,所以X和Y向上的偏移量与欧拉角是耦合的,经过计算得出了这两个方向上的偏移量与欧拉角的函数关系。对并联机构进行了静力分析。改变连杆长度与定平台半径长度来观察连杆的受力情况,根据连杆的受力情况选择了一组比较理想的定平台与连杆尺寸组合。用一种简洁的方法推导了该机构的正解和逆解。
在Pro/E中建立了机构的三维模型,并将其导入到ADAMS中仿真验证了机构的自由度,分析了机构的输入与输出之间的运动特性,重点验证了机构的位置正反解算法的正确性以及动平台与连杆的干涉情况。对机床的主要部分进行了结构设计并利用Pro/E中的有限元分析模块进行了机床的静刚度分析和模态分析。通过分析确定了机床受力的薄弱环节,研究了机床模态分析的各阶振型及其振动特性。
本文通过上述理论研究和分析,得出了一些初步的结论,为后续的研究工作奠定了基础,为该并联机床的设计与制造提供了理论依据。
Bonnet tool polishing is a new polishing method which was put forward by London optical laboratory in the 1990s. Comparing with the traditional polishing technology, Bonnet tool polishing is a practical, economic, precision polishing technology. The existing polishing machine tools are Traditional machine. But parallel mechanism is a new kind of organization no matter from its structure or its function. Parallel mechanism has high precision and stiffness, small inertia, high bearing capacity, the solution model is simple. It can operation in high speed and easy to control. From the method of Bonnet tool polishing, Take the 3 - PRS type parallel mechanism for prototype, have studied how to use parallel mechanism to realize Bonnet tool polishing and have designed the structure of the main part of the parallel polishing machine.
3 - PRS type parallel mechanism has three degrees. In the process of moving ,except the platform turning around the center and moving in Z direction, It also has some displacement in the X and Y direction. Euler Angle and Z axis coordinate can determine the pose of the moving platform. So the displacement in the X and Y direction are coupling with Euler Angles. Through calculation, I get the function between the displacement in the X and Y direction and Euler Angles. I did static analysis about the parallel mechanism. Change the connecting rod length and the radius of the fixed platform to study the force of the rod. According to the force of the connecting rod I chose an ideal group of size of the platform and the connecting rod. With a simple method I deduced the positive solution and the reverse solution of the parallel mechanism.
Established 3d model of the mechanism in Pro/E and interface it into ADAMS to simulation. Through this method, I verified the freedom degrees of the mechanism and studied the motion characteristics between input and output. The most important is that it verified the correctness of the positive solution and the reverse solution of the parallel mechanism and the interference between moving platform and the connecting rod. I did the structure design of the main part of the parallel machine and its static stiffness analysis and model analysis with finite element mechanical module of the Pro/E. Through the analysis, determine the weak link of the machine, studied the vibration characteristics of the machine.
Based on the theoretical study and analysis, get some preliminary conclusions and laid a foundation for the subsequent research work, provides theoretical basis for the design and manufacture of parallel machine tool.
引文
1 W. Kordonski, D. Golini, P. Dumas. Magnetorheological suspendsion-based finishing technology, SPIE. 1998, 3326: 527
2李国,董申,张景和,王海峰,张顺国.大型非球曲面超精密复合加工机床.纳米技术与精密工程. 2006, 4(1): 75~78
3 M. J. Chen, D. Li, S. Dong. Research on a large depth-to-diameter ratio ultra- precision aspheric grinding system. Journal of Materials Processing Technology. 2002, 129(11): 91~95
4孙强,柳荣,朴仁官,葛振杰,赵秋玲.塑料非球面透镜在头盔3D显示中的应用[J].光学精密工程. 2005, 13(1): 47~52
5张坤领,林彬,王晓峰.非球面加工现状.组合机床与自动化加工技术. 2007, 5: 1~5
6张曙, U. Heisel.并联运动机床.北京:机械工业出版社, 2003
7周延佑,林益耀.发展中的六条腿机床.机械制造. 1998, (10):4~8
8温兆麟,陈新,敖银辉等.并联机构应用的领域及其构型研究.机床与液压, 2005 (5): 6-9
9董海薇,李平康.国内并联机器人研究现状及未来进展.自动化博览. 2005.(4)
10 A Novel Automated Process for Aspheric Surfaces. R,G. Bingham, D.D. Walker, D-H. Kim, D. Brooks, R. Freeman, D. Riley , Proc. SPIE 45th Annual Meeting, the International Symposium on Optical Science and Technology, 2000, Vol.4093 Current Developments in Lens Optical Design and Engineering, 445~448
11 The first aspheric form and texture results from a production machine embodying the Precession process. D. D. Walker, D. Brooks , R. Freeman, A. King , G. M. Cavana, R. Morton, D. Riley, J. Simms, proc 46th Annual Meeting of SPIE, San Diego, 2001, vol. 4451, 2001, 267~276
12 D.D. Walker, A.T.H. Beaucamp, D. Brooks, et al. New Results from the Precessions Polishing Process Scaled to Larger Sizes. Proc. SPIE Astronomical Telescopes and Instrumentation Meeting, Glasgow. 2004
13 D.D. Walker, A.T.H. Beaucamp, R.G. Bingham, et al. Precessions Aspheric Polishing: New Results from the Development Programmer. Proc. SPIE's 48th Annual Meeting, San Diego, August. 2004, 5180: 15~28
14 D.D. Walker, D. Brooks, A. King, et al. First aspheric form and texture results from a production machine embodying the precession process. Proc. SPIE. 2001, 4451: 267
15 D.D. Walker, A.T.H. Beaucamp, D. Brooks, et al. Novel CNC polishing processfor control of form and texture on aspheric surfaces. proc. SPIE's 47th Annual Mtg, Seattle. 2004, 4451: 267~276
16 Information on http://tieba.baidu.com/f?kz=136447843
17余景池等.计算机控制光学表面成型技术综述.光学技术, 1998(3)
18王贵林. SiC光学材料超精密研抛关键技术研究.中国人民解放军国防科学技术大学. 2002
19 D. D. Walker, A. T. H. Beaucamp, D. Brooks, R. Freeman, A. King, G. M. Cavana, R. Morton, D. Riley, J. Simms. Novel CNC polishing process for control of form and texture on aspheric surfaces, proc. 47th An. M. SPIE, Seattle, in print. 2004
20 D. D. Walker, R. Freeman, G. M. Cavana, R. Morton, D. Riley, J. Simms, D. Brooks, A. King. The Zeeko/UCL Process for Polishing Large Lenses and Prisms, proc. Large Lenses and Mirrors conference, UCL, March 2001, pub. SPIE, 106~111
21 D. D. Walker, A.T.H. Beaucamp, R. G.. Bingham, D. Brooks, R. Freeman, S. W. Kim, A. King, G.. M. Cavana, R. Morton, D. Riley, J. Simms. Precessions Aspheric Polishing:- New Results from the Development Programmer, Proc. Spy’s 48th Annual Meeting, the International Symposium on Optical Science and Technology,‘Optical Manufacturing and Testing V’, San Diego, Vol. 5180, 2004, 15~28
22袁巨龙,王志伟,文东辉,吕冰海,戴勇.超精密加工现状综述.机械工程学报. 2007,43(1): 35~45
23邱志成,谈大龙,赵明杨.并联机器人研究现状.研究开发. 2000,38(428): 27~29
24李长河,蔡光起.并联机床发展与国内外研究现状.青岛理工大学学报. 2008, 29(1):7~13.
25 Stewart D, A platform with six degree of freedom. Proc. Inst M. Engineers (Part I). 1965, 80(15):371~386.
26 Hunt K H. Kinematic geometry of mechanisms clared on press, Oxford, 1978.
27 Peter Baley. A Machine for the 21st Century. Machinery and Production Engineering, 1995(1).
28 Manfred Weck, Michael Damnoer. Design, calculation and control of machine tools based on parallel kinematics. In Proc. of the ASME. MED-vol. 8, 1998: 715~7.
29 Bruno Siciliano. The Tricept robot: Inverse kinematics, manipulability. analysis and closed-loop direct kinematics algorithm. Robotic, 1999, 17(4): 437~445.
30 Tetsuro Shhibukawa, et al. Development of parallel mechanism based milling machine [HexaM]. In: Proc. of the ASME. MED-Vol. 8, 1998: 691~698.
31 Keum-ShikHong, Jeom-Goo Kim. Manipulability Analysis of a Parallel Machine Tool: Application to Optimal Link Length Design. J. Robotic Systems, 2006,17(8): 403~415.
32汪劲松,段广洪,杨向东等. VAMT1Y虚拟轴机床.制造技术与机床. 1998, (2):42~43
33李兵,王知行,刘文涛等.新型并联机床的固有特性研究.机械设计. 1999, (9):13~15
34朱煜,汪劲松,张永忠等.并联机床设计理论、技术与设计环境.中国矿业大学学报(自然科学版). 2001, 30(3):301~306
35蔡光起,戴炬,胡明等.机器人化三腿磨削机床的研制.制造技术与机床,1998, (10):4~6
36黄真,李秦川.少自由度并联机器人机构的型综合原理.中国科学,2003,(9)
37 Ahmed A. Ramadan, Tatsuo Arai, Tomohito Takubo, and Kenji Inoue. Optimization of a Hybrid Two-Fingered Micro Hand Using Genetic Algorithms. IEEE Xplore. This work was supported by MEXT under Grant-in-Aid. for Scientific Research on Priority Areas.2009.4: 103～107
38刘文涛.并联机床性能分析与研究.哈尔滨工业大学博士论文. 2000:13～19, 32～33
39刘延柱.高等动力学.高等教育出版社, 2003: 95～99
40郑建荣. ADAMS—虚拟样机技术入门与提高.机械工业出版社, 2001.11: 97～99
41 D.D. Walker, A. Beaucamp, C. Dunn, R. Freeman, A. Mark, G. M. Cavana, R. Morton, D. Riley. New Results from the Precessions Polishing Process Scaled to Larger Sizes. ASPE Winter Topical Meeting on Free-Form Optics: Design, fabrication, Metrology, Assembly, CD-Rom, ISBN 1-887706-33-X 2004
42刘学深.王玉新.特殊3-PRS并联机器人运动分析.机械科学与技术, 2003,(9):785～787
43二代龙震工作室. Pro/MECHANICA Wildfire 3.0/4.0结构/热力分析.电子工业出版社, 2008.4: 2～4
44万启超,魏田和. Pro/ENGINEER Wildfire 3.0结构、热、运动分析基础与典型范例.电子工业出版社,2008.3: 3～14
2李国,董申,张景和,王海峰,张顺国.大型非球曲面超精密复合加工机床.纳米技术与精密工程. 2006, 4(1): 75~78
3 M. J. Chen, D. Li, S. Dong. Research on a large depth-to-diameter ratio ultra- precision aspheric grinding system. Journal of Materials Processing Technology. 2002, 129(11): 91~95
4孙强,柳荣,朴仁官,葛振杰,赵秋玲.塑料非球面透镜在头盔3D显示中的应用[J].光学精密工程. 2005, 13(1): 47~52
5张坤领,林彬,王晓峰.非球面加工现状.组合机床与自动化加工技术. 2007, 5: 1~5
6张曙, U. Heisel.并联运动机床.北京:机械工业出版社, 2003
7周延佑,林益耀.发展中的六条腿机床.机械制造. 1998, (10):4~8
8温兆麟,陈新,敖银辉等.并联机构应用的领域及其构型研究.机床与液压, 2005 (5): 6-9
9董海薇,李平康.国内并联机器人研究现状及未来进展.自动化博览. 2005.(4)
10 A Novel Automated Process for Aspheric Surfaces. R,G. Bingham, D.D. Walker, D-H. Kim, D. Brooks, R. Freeman, D. Riley , Proc. SPIE 45th Annual Meeting, the International Symposium on Optical Science and Technology, 2000, Vol.4093 Current Developments in Lens Optical Design and Engineering, 445~448
11 The first aspheric form and texture results from a production machine embodying the Precession process. D. D. Walker, D. Brooks , R. Freeman, A. King , G. M. Cavana, R. Morton, D. Riley, J. Simms, proc 46th Annual Meeting of SPIE, San Diego, 2001, vol. 4451, 2001, 267~276
12 D.D. Walker, A.T.H. Beaucamp, D. Brooks, et al. New Results from the Precessions Polishing Process Scaled to Larger Sizes. Proc. SPIE Astronomical Telescopes and Instrumentation Meeting, Glasgow. 2004
13 D.D. Walker, A.T.H. Beaucamp, R.G. Bingham, et al. Precessions Aspheric Polishing: New Results from the Development Programmer. Proc. SPIE's 48th Annual Meeting, San Diego, August. 2004, 5180: 15~28
14 D.D. Walker, D. Brooks, A. King, et al. First aspheric form and texture results from a production machine embodying the precession process. Proc. SPIE. 2001, 4451: 267
15 D.D. Walker, A.T.H. Beaucamp, D. Brooks, et al. Novel CNC polishing processfor control of form and texture on aspheric surfaces. proc. SPIE's 47th Annual Mtg, Seattle. 2004, 4451: 267~276
16 Information on http://tieba.baidu.com/f?kz=136447843
17余景池等.计算机控制光学表面成型技术综述.光学技术, 1998(3)
18王贵林. SiC光学材料超精密研抛关键技术研究.中国人民解放军国防科学技术大学. 2002
19 D. D. Walker, A. T. H. Beaucamp, D. Brooks, R. Freeman, A. King, G. M. Cavana, R. Morton, D. Riley, J. Simms. Novel CNC polishing process for control of form and texture on aspheric surfaces, proc. 47th An. M. SPIE, Seattle, in print. 2004
20 D. D. Walker, R. Freeman, G. M. Cavana, R. Morton, D. Riley, J. Simms, D. Brooks, A. King. The Zeeko/UCL Process for Polishing Large Lenses and Prisms, proc. Large Lenses and Mirrors conference, UCL, March 2001, pub. SPIE, 106~111
21 D. D. Walker, A.T.H. Beaucamp, R. G.. Bingham, D. Brooks, R. Freeman, S. W. Kim, A. King, G.. M. Cavana, R. Morton, D. Riley, J. Simms. Precessions Aspheric Polishing:- New Results from the Development Programmer, Proc. Spy’s 48th Annual Meeting, the International Symposium on Optical Science and Technology,‘Optical Manufacturing and Testing V’, San Diego, Vol. 5180, 2004, 15~28
22袁巨龙,王志伟,文东辉,吕冰海,戴勇.超精密加工现状综述.机械工程学报. 2007,43(1): 35~45
23邱志成,谈大龙,赵明杨.并联机器人研究现状.研究开发. 2000,38(428): 27~29
24李长河,蔡光起.并联机床发展与国内外研究现状.青岛理工大学学报. 2008, 29(1):7~13.
25 Stewart D, A platform with six degree of freedom. Proc. Inst M. Engineers (Part I). 1965, 80(15):371~386.
26 Hunt K H. Kinematic geometry of mechanisms clared on press, Oxford, 1978.
27 Peter Baley. A Machine for the 21st Century. Machinery and Production Engineering, 1995(1).
28 Manfred Weck, Michael Damnoer. Design, calculation and control of machine tools based on parallel kinematics. In Proc. of the ASME. MED-vol. 8, 1998: 715~7.
29 Bruno Siciliano. The Tricept robot: Inverse kinematics, manipulability. analysis and closed-loop direct kinematics algorithm. Robotic, 1999, 17(4): 437~445.
30 Tetsuro Shhibukawa, et al. Development of parallel mechanism based milling machine [HexaM]. In: Proc. of the ASME. MED-Vol. 8, 1998: 691~698.
31 Keum-ShikHong, Jeom-Goo Kim. Manipulability Analysis of a Parallel Machine Tool: Application to Optimal Link Length Design. J. Robotic Systems, 2006,17(8): 403~415.
32汪劲松,段广洪,杨向东等. VAMT1Y虚拟轴机床.制造技术与机床. 1998, (2):42~43
33李兵,王知行,刘文涛等.新型并联机床的固有特性研究.机械设计. 1999, (9):13~15
34朱煜,汪劲松,张永忠等.并联机床设计理论、技术与设计环境.中国矿业大学学报(自然科学版). 2001, 30(3):301~306
35蔡光起,戴炬,胡明等.机器人化三腿磨削机床的研制.制造技术与机床,1998, (10):4~6
36黄真,李秦川.少自由度并联机器人机构的型综合原理.中国科学,2003,(9)
37 Ahmed A. Ramadan, Tatsuo Arai, Tomohito Takubo, and Kenji Inoue. Optimization of a Hybrid Two-Fingered Micro Hand Using Genetic Algorithms. IEEE Xplore. This work was supported by MEXT under Grant-in-Aid. for Scientific Research on Priority Areas.2009.4: 103～107
38刘文涛.并联机床性能分析与研究.哈尔滨工业大学博士论文. 2000:13～19, 32～33
39刘延柱.高等动力学.高等教育出版社, 2003: 95～99
40郑建荣. ADAMS—虚拟样机技术入门与提高.机械工业出版社, 2001.11: 97～99
41 D.D. Walker, A. Beaucamp, C. Dunn, R. Freeman, A. Mark, G. M. Cavana, R. Morton, D. Riley. New Results from the Precessions Polishing Process Scaled to Larger Sizes. ASPE Winter Topical Meeting on Free-Form Optics: Design, fabrication, Metrology, Assembly, CD-Rom, ISBN 1-887706-33-X 2004
42刘学深.王玉新.特殊3-PRS并联机器人运动分析.机械科学与技术, 2003,(9):785～787
43二代龙震工作室. Pro/MECHANICA Wildfire 3.0/4.0结构/热力分析.电子工业出版社, 2008.4: 2～4
44万启超,魏田和. Pro/ENGINEER Wildfire 3.0结构、热、运动分析基础与典型范例.电子工业出版社,2008.3: 3～14