摘要
工作空间小、实际可达精度和刚性低是影响并联机床实用化的主要原因,冗余的方法常被采用来消除并联机构的奇异、改善动力学性能,实现跨构型空间。文章提出了靠冗余内力提高并联机构实际精度的方法,设计了一种2DOF驱动冗余验证机构,推导了位置及速度协调条件,设计了力控制系统,试验表明该方法可以有效提高并联机构精度,该研究为改善并联机构运动精度提供了理论及试验基础。
The main obstacles that hindered the industrial application of parallel machines were limited workspace, insufficient accuracy and stiffness. Redundant structure is adopted to eliminate the singularity of the parallel machines, improve the machine＇ s kinetics performance and realize the span structure type workspace. The paper puts forward a method that the internal force greatly improves the actual accuracy of parallel machine tools, and a- 2DOF redundantly actuated parallel mechanism is designed. The position and speed harmonious control conditions is studied and the force control system is devised in this paper. The experiments show that this method can greatly improve the accuracy of parallel machines. Therefore, the results provide the theoretical and experimental foundation for improving the accuracy of parallel machines by internal force.
出处
《组合机床与自动化加工技术》
北大核心
2009年第5期49-51,共3页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家自然科学基金资助项目(50375010)
青岛科技大学博士基金资助项目(缺少项目编号)
关键词
并联机构
精度
内力
parallel machine
accuracy
intemal force
