Control method for processing five-rod five-ring parallel kinematic machine tool

Abstract

The invention provides a control method for processing five-rod five-ring parallel kinematic machine tool, and the numerical control system of the five-rod five-ring parallel kinematic machine tool has a two-way linkage with a upper PC and a servo control system by a motion control card, and the control method includes (1) establishing a control model, and forming a functional relation in one-to-one correspondence by the control model for the five-rod five-ring parallel kinematic machine tool structure geometric parameter, the knife dimension and the surface of workpiece to be processed, and obtaining rod length function; (2) writing five-rod length function into the motion control card by the upper machine; (2) setting rotative velocity of electronic cam wheel in the motion control card according to the cutting feed speed; (4) outputting the control signal to the servo control system by the motion control card, and controlling machine tool for carrying out processing. The invention has the advantages that the control model translates the solving of staggered vector space into the solving of planar vector, which simplifies the arithmetic process, improves the interpolation speed for processing; and the function of the electronic cam wheel replaces the function of the cam wheel, which resolves the synchronous of every corresponding interpolation point of five drive rods.

Description

technical field [0001] The invention relates to a control method for machine tool processing, in particular to a control method for five-rod and five-ring parallel kinematic machine tool processing. Background technique [0002] Parallel kinematic machine tools, also known as virtual axis machine tools, have been developed for nearly ten years at home and abroad, and most of the parallel kinematic mechanisms are six-bar and three-bar. It is rare to use a five-bar complete parallel mechanism as a parallel machine tool, and the research object of the present invention is just a five-bar five-ring parallel kinematic machine tool. [0003] The five-bar five-ring parallel mechanism was proposed by Dr. Michael Schwaar of Germany in 2001. Compared with other types of parallel kinematic machine tools, it has its particularity, such as figure 1 shown. In the past parallel machine tools, whether it is the traditional Stewart six-bar mechanism or the later developed three-bar mechani...

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Problems solved by technology

In the past parallel machine tools, whether it is the traditional Stewart six-bar mechanism or the later developed three-bar mechanism in the hybrid machine tool, the hinge points of the bars and the moving platform are always distributed on the second floor plane, while the five-bar five-bar mechanism of the present invention The configuration of the circular parallel kinematic machine tool is five levels controlled by five rods, the centers of the five control surfaces are on the same line, and five swivel rings are used on the moving platform (spindle) to replace the fixedly installed constraint hinges. The position of the constraint hinges is determined by the traditional Known (fixed) becomes unknown (instantaneous rotation), so its kinematic solution is difficult to work with conventional algorithms

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