一种5轴混联铣床运动学的矢量法分析

Kinematics analysis on a 5-axis parallel-serial machine tool based on vector method

摘要:

介绍一种由3自由度并联机构和2自由度串联机构组成的5轴混联铣床.采用矢量分析的方法,引入单位矩阵和四元素向量对运动学分析中的高阶转换矩阵进行降阶处理,实现机构输入参数与机构独立运动参数之间的矩阵转化,解决了机构运动参数耦合的问题;详细推导出铣床的并联部分驱动输入速度、加速度与机构动平台输出速度、加速度之间的数学关系,借助于运动学仿真分析软件验证了算法的正确性.该算法对于具有运动参数耦合的并联机构或混联机构的运动学分析、动力学分析以及机构的运动控制具有一定的参考价值.

Abstract:

A 5-axis parallel-serial machine tool is introduced,which consists of a 3-DOF parallel mechanism and a 2-DOF serial mechanism.The size of transform matrix is decreased by adopting unit matrix and the problem of parameter coupling is resolved by adopting vector method.The relationship between the velocity,acceleration of movable platform and those input parameters of the parallel mechanism is established in detail.These algorithms are verified through ADAMS and can provide references for kinematics analysis,dynamics analysis,motion control of parallel or parallel-serial machine tools,which have coupling kinematic parameters.