并联机床的灵巧度评价指标及其应用

陈修龙; 赵永生; 鹿 玲

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并联机床的灵巧度评价指标及其应用

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- 并联机床的灵巧度评价指标及其应用
- Dexterity measures of parallel machine tool and its application
- 光学精密工程 2007年15卷第2期页码：237-242
- 作者机构：
  
  1. 燕山大学机械工程学院,河北秦皇岛,066004
  2. 山东科技大学机电学院,山东青岛,266510
- 作者简介：
- 基金信息：
- DOI：
  中图分类号： TH113
- 收稿日期：2006-07-12，
  
  修回日期：2006-09-27，
  
  网络出版日期：2007-02-20，
  
  纸质出版日期：2007-02-20
- 稿件说明：
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陈修龙, 赵永生, 鹿玲. 并联机床的灵巧度评价指标及其应用[J]. 光学精密工程, 2007,15(2):237-242.

CHEN Xiu-long, ZHAO Yong-sheng, LU Ling. Dexterity measures of parallel machine tool and its application[J]. Optics and precision engineering, 2007, 15(2): 237-242.
陈修龙, 赵永生, 鹿玲. 并联机床的灵巧度评价指标及其应用[J]. 光学精密工程, 2007,15(2):237-242. DOI：

CHEN Xiu-long, ZHAO Yong-sheng, LU Ling. Dexterity measures of parallel machine tool and its application[J]. Optics and precision engineering, 2007, 15(2): 237-242. DOI：

摘要

研究了并联机床的灵巧度评价指标及其在实际加工中的应用。介绍了一种新型的五自由度并联机床

该机床机构具有五个驱动分支和一个约束分支

可以实现三维移动和二维转动。建立了该机床机构的雅可比矩阵

得到了三个影响机床机构灵巧度的指标

即条件数、最小奇异值、可操作性;并通过对这三个并联机床灵巧度评价指标进行分析

定义了两个灵巧度的综合评价指标-综合灵巧度系数和综合灵巧度

分别作为评价不同位形下灵巧度和整个刀位文件灵巧度的指标。最后

介绍了在实际加工中对不同加工轨迹的灵巧度进行综合评价的方法。实验结果表明:机床实际加工100平面圆

对各向同性有较高要求时的最优加工轨迹为

=650 mm

保证了机床加工过程中应具有良好运动和动力学性能的要求。

Abstract

In order to study on dexterity measures of parallel machine tool(PMT) and its application in real processing

a novel 5-Degrees of Freedom (DOF) fully PMT consisting of five actuating limbs and one passive constraint limb is introduced

and its Jacobian matrix is established. The Jacobian matrix is used to define three dexterity measures: conditional number

the smallest singular value and operation. By analyzing three dexterity measures of parallel machine tools

two terms named comprehensive dexterity coefficient and comprehensive dexterity degree are defined to evaluate the dexterity of various configurations and whole cutter location file respectively. Finally

the method for evaluating the dexterity under various tool trajectories is introduced. Experimental results indicate that a relatively optimal trajectory

is 650 mm with a higher isotropy in real processing of circle(radius as 100 mm).It can satisfy the machine requirement of performance of motion and dynamics.

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Keywords

references

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