一种并联机床运动平台位姿测量方法

提出一种采用附加测量机构直接测量并联机床运动平台位姿精度的方法。其基本思想是根据运动平台的运动特性在固定平台和运动平台之间增设附加测量机构，当运动平台运动时带动测量机构运动，通过安装在测量机构上的传感器测得广义坐标参量， 经运动学建模即可得到运动平台的位姿。当测量机构位姿正解求解速度满足实时控制要求时，利用该反馈信息对机床进行实时精度补偿和控制。基于上述思想建立的并联机床位姿测量系统可部分排除机床切削力变形和运动副间隙等误差， 从而提高机床的位姿测量精度。以一种五坐标并联机床为例，介绍采用附加测量机构直接测量运动平台位姿精度的建模方法。其中， 测量机构的综合十分重要。测量机构的组成决定了运动学模型的复杂程度， 即决定了运动学模型的计算效率。

岩石磨蚀性和TBM滚刀磨损机理研究

Using the popular CERCHAR testing to measure the abrasiveness of rock which is CERCHAR abrasiveness index(CAI). The digital imagine processing program IPP is used to quantify the rock texture such as the grain size, the shape of grain and the index of grain homogeneity. And the rock mechanical testing machine are used to measure the strength, hardness and elastic modulus. Basic on these three experiments, this paper finds the relationship between the CAI and physical and mechanical properties of rock. They are both the mesostructure and macroscopical properties of rock. According to the theory of tribology and wear, this paper finds the disc cutter wear mechanism during the machine and rock interaction process. The detail research results are as follows: (1) The size and form of the mineral grains constituting the rocks affect the abrasiveness of the rock. The rock abrasiveness CAI is a function of the product of the texture coefficient(TC) multiplying equivalent quarts content(Q%). (2) There is no obvious relationship between the rock abrasiveness CAI and the single macroscopical property of rock such as hardness, unconfined compressive strength, tensile strength and elastic modulus. But when taking the texture coefficient(TC) and the mineral composition in consideration, it shows that the rock abrasiveness CAI is relative to the combination of the rock mechanical property, the texture coefficient(TC) and the mineral composition. That is to say various factors which are from the mesostructure feature to the macroscopical property of rock control the rock abrasiveness. (3) The disc cutter penetrating into rock is a machine/rock interaction process. During this interaction, the wear of disc cutter is mainly coming from the abrasive of abrasiveness matters. First, the surface of the cutter ring is hunched, and then the material of the cutter ring is being wiped off during the iterative interaction. Second, the hard mineral in the rock and the muck will microcosmic cutting the surface material of cutter ring. (4) The disc cutters consumption is determined by the machine parameters and the geology condition. The machine parameters include the thrust and the revolution rate of the cutterhead. The geology condition include two aspects: the macroscopical properties which are the strength and/or hardness of rock, the presence of discontinuities in rock mass, the hardness, sharp, edge and size of the muck and so on. And the mesostructure features which are the hard mineral composition, the sharp and size of the grain of the rock.