摘要
在分析三种典型的五轴机床结构的基础上,运用机构学理论建立一种通用的五轴机床机构学模型,该模型拥有3个平移自由度和4个旋转自由度,同时在工件端和主轴端分别有两个旋转自由度.利用齐次变换矩阵和正向、逆向运动学相结合的方法对模型进行分析,得到五轴NC数据完整的表达式,实现了各种类型的五轴机床NC数据的通用表达,不仅可以将任意坐标系下的刀位数据转换为NC数据,同时实现了任意结构五轴机床之间NC数据的相互转换.该模型的建立不仅使数控系统具备了空间坐标变换的能力,还为开发具有五轴加工功能的高档数控系统打下了统一的空间运动学基础.
This paper presents a generic five-axis model for various five-axis machine tools. It establishes a universal 5-axis machine tool mechanism model using mechanism theory and based on the analysis of three typical five-axis machine structures which has four rotational degrees of freedom （ DOF）, two rotational DOF on the fixture table and two rotational DOF on the spindle respectively. The generalized kinematics model of five-axis machines is constructed by combining the analytical equations for NC data are determined through homogeneous coordinate transformation matrix together with forward and inverse kinematics. The derived five-axis NC code expression is a general expression for all kinds of five-axis machine tools with three linear axes and two rotational axes. Moreover, the NC data for a specific machine tool can be transformed to the other machine tool configuration using the derived analytical equations. The implement of this model not only makes NC system having the ability to change the space coordinate, but also makes a spatial kinematics foundation for the development of high CNC system processing of five-axis functions.
出处
《小型微型计算机系统》
CSCD
北大核心
2010年第10期1965-1969,共5页
Journal of Chinese Computer Systems
基金
中国科学院知识创新工程重要方向项目(KGCX2-YW-119)资助
关键词
五轴
齐次坐标变换矩阵
运动学模型
数控编程
five-axis
homogeneous coordinate transformation matrix
kinematics model
NC programming
