Three-degree-of-freedom parallel mechanism type dual head for five-axis machine tools and control method

A dual-swing, degree-of-freedom technology used in manufacturing tools, metalworking machine parts, large fixed members, etc.

Inactive Publication Date: 2010-06-23
BEIHANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In the patent document CN1843709, a parallel mechanism with one translation and two rotations is disclosed, but this mechanism is only composed

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  • Three-degree-of-freedom parallel mechanism type dual head for five-axis machine tools and control method
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  • Three-degree-of-freedom parallel mechanism type dual head for five-axis machine tools and control method

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[0039] The present invention is a five-axis machine tool double swing head in the form of a three-degree-of-freedom parallel mechanism, which is composed of a static platform 1, a movable platform 7 and four branches connecting the two platforms. The position and connection relationship between them are: static platform 1. The movable platform 7 is a similar equilateral triangle with different sizes, in which the static platform 1 has a fixed posture, and the movable platform 7 has one movement and two rotations relative to the static platform 1 with three degrees of freedom. Among the four branch chains, three branch chains have the same structure and are connected to the apexes of the static platform 1 and the moving platform 7, and the other branch chain is connected to the center of the static platform 1 and the moving platform 7.

[0040] The shape of the static platform 1 is an equilateral triangle, and the four branch chains are connected to their vertices and centers throu...

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Abstract

The invention relates to a three-degree-of-freedom parallel mechanism type dual head for five-axis machine tools, which comprises a static platform, a movable platform and four branch chains connected with the two platforms. A control method includes seven steps: (1) a Jacobian matrix is solved according to the inverse solution formula of the symmetric structure, and a corresponding model is established; (2) a Jacobian matrix is solved according to the inverse solution formula of the asymmetric structure, and a corresponding model is established; (3) a corresponding variable-structure controller is designed; (4) the tracking locus and external load of the dual head are set, and the internal force threshold of each branch chain is set; (5) the force feedback value of a force sensor on each non-redundant branch chain is acquired and compared with a set threshold; (6) according to the Jacobian matrix in the first step, the driving force of each motor is calculated, force control is adopted on the non-redundant branch chains, and position-tracking control is adopted on the redundant branch chains; (7) according to the Jacobian matrix in the second step, the driving force of each motor is calculated, position-tracking control is adopted on the non-redundant branch chains with the force feedback values larger than the threshold, and force control is adopted on the redundant branch chains and the other two non-redundant branch chains.

Description

(1) Technical field [0001] The invention relates to a double-oscillating head of a five-axis machine tool in the form of a three-degree-of-freedom parallel mechanism and a control method thereof, belonging to the technical field of mechanical manufacturing. (2) Background technology [0002] Five-axis CNC machine tools are widely used in manufacturing industries such as aerospace, automobiles, power generation equipment, and molds. The double swing head is a key component in the five-axis CNC machine tool, and it is also one of the focuses of competition in the five-axis CNC machine tool market. High-precision, high-rigidity double-oscillating heads are very difficult to manufacture. The current double-oscillating heads are composed of two turntables connected in series. The price of the head even accounts for more than 30% of the total cost of the CNC machine tool. Therefore, the development of a new type of high-performance, low-cost machine tool swing head has important...

Claims

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Application Information

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IPC IPC(8): B23Q1/26B23Q1/48B23Q5/00
Inventor 陈五一崔学良韩先国
Owner BEIHANG UNIV
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