基于四自由度并联机构的数控机床研究

介绍一种基于混合型四自由度并联平台机构开发的五坐标并联机床 .由于其独特的机构设计 ,与基于 Stewart平台的并联机床相比 ,X方向的进给运动与运动平台分离 ,改由工作台单独进给 ,因而其工作空间成倍增大 .采用龙门框架结构和滚珠丝杠支承方案使机床获得更高的刚度 .给出了该机床运动学逆解 ,控制系统采用基于 PC的数控系统进行五轴联动控制

A new type of 5\|axis parallel machine tool based on a novel 4 degrees of freedom hybrid parallel platform manipulator is presented. This machine tool is different from the Stewart platform like parallel machine tool in that its feed motion in X\|direction is realized by the worktable on which workpiece is fixed instead of the movable platform of the manipulator. Due to this special architecture, the workspace in X\|direction of the new machine tool is enlarged greatly. And its rigidity is higher because of the adaptation of gantry structure. This machine tool is controlled by a PC based NC system in simultaneous 5 axes control mode.

国家“九五”攻关项目!(96 A2 2 0 10 3);;中国科学院机器人学开放研究实验室资助项目!(RL 19970 7)