张邦成,王占礼,王义强,蔡 赟,姚 禹.串并联数控机床伺服系统运动学耦合特性研究[J].农业机械学报,2013,44(11):316-321.
Zhang Bangcheng,Wang Zhanli,Wang Yiqiang,Cai Yun,Yao Yu.Kinematics Coupling Analysis of 3-PTT CNC Serial-parallel Machine[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(11):316-321.
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串并联数控机床伺服系统运动学耦合特性研究   [下载全文]
Kinematics Coupling Analysis of 3-PTT CNC Serial-parallel Machine   [Download Pdf][in English]
  
DOI:10.6041/j.issn.1000-1298.2013.11.053
中文关键词:  串并联机构 伺服进给系统 运动学耦合 解耦
基金项目:国家科技重大专项资助项目(2009ZX04014-013-01)和吉林省教育厅“十二五”科学技术研究项目(2012111)
作者单位
张邦成 长春工业大学 
王占礼 长春工业大学 
王义强 浙江大学 
蔡 赟 长春工业大学 
姚 禹 长春工业大学 
中文摘要: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。
Zhang Bangcheng  Wang Zhanli  Wang Yiqiang  Cai Yun  Yao Yu
Changchun University of Technology;Changchun University of Technology;Zhejiang University;Changchun University of Technology;Changchun University of Technology
Key Words:Serial-parallel manipulator Servo feed system Kinematics coupling Decoupling
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.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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