串并联数控机床伺服系统运动学耦合特性研究

Kinematics Coupling Analysis of 3-PTT CNC Serial-parallel Machine

摘要:

为分析串并联机构运动学耦合问题，提出了一种串并联机构的运动学正、逆解耦分析方法，分析了3-PTT串并联机床伺服进给系统加工过程中运动学耦合机理，建立了耦合模型。针对串并联机构虎克铰结构和运动特性，采用位姿解耦的方法进行分析。在此基础上，以加工螺旋线轨迹为仿真实例，应用ADAMS和Matlab对模型进行联合仿真分析。仿真及试验结果表明：3-PTT串并联数控机床伺服进给系统加工过程中运动速度快且耦合误差小，运动轨迹符合运动学规律，可较好地反映运动耦合状态。该研究过程实现了3-PTT串并联机构运动学解耦。

Abstract:

In order to solve the problems of kinematics coupling, a method was put forward based on kinematics. Kinematics coupling mechanism of 3-PTT series-parallel machine tool servo feed system was analyzed. Based on hooker and motion characteristics of series, parallel institutions pose decoupling method was used for analysis. The ADAMS and Matlab were used for simulation. The results showed that this analysis could reflect the kinematics coupling of 3-PTT CNC serial-parallel machine. It had high velocity and small coupling error. The research process could effectively solve the problem of series-parallel CNC machine tool servo feed system kinematics coupling.