摘要
通过以3-TPT并联机床作为研究对象,建立该并联机构的运动学逆解方程。然后在ADMAS/View环境中,构建该并联机构的虚拟样机,然后在Simulink环境中建立该虚拟样机的控制系统模型,从而实现对其的联合仿真,得到驱动力以及刀具位移变化曲线。通过对比驱动杆杆长变化曲线,从而验证了运动学逆解方程的准确性。同时也说明该并联机构在空间运动时,具有良好的平稳性。除此之外,利用虚拟样机联合仿真技术对并联机床运动学进行研究,避免了复杂的数学建模与推导,从而大大缩减了运动学分析工作量。
3-TPT parallel machine tool for the study, the negative solutions of its kinematics equations were established. Then the parallel mechanism virtual prototype was established in ADAMS/View environment, and the control system of the virtual prototype was built by using Simulink, in order to the cosimulation could be achieved. Finally, trough simulation, the curves of driving forces and cutting tool movement could be got. By comparing with the length curves of rods, the negative solutions of the kinematics equations are proved be right. And it also indicates that the stationarity is well when the mechanism moves in space. In addition, complex mathematical modeling and derivation could be avoided by using virtual prototyping co-simulation technology to study the parallel machine tool kinematics. Thus the workload of the kinematic analysis is reduced greatly.
出处
《组合机床与自动化加工技术》
北大核心
2013年第8期39-42,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
辽宁省自然科学基金项目(20052211)
关键词
并联机构
虚拟样机
控制系统
平稳性
parallel institution
virtual prototype
control system
stationarity
