Reverse resolving mathematical algorithm for five shaft five ring parallel moving mechanism moving control

Abstract

Steps of the mathematical algorithm are as following: establishing coordinate system, selecting one branched chain, converting the selected single branched chain from space vector to plane vector so as to obtain vector of cutting tool position; then, based on relation of vector to obtain vector qalpha; finally, using mathematical software Matlab obtains functional relation among length of bar, pose of cutting tool position, and position of cutting tool tip; length of bar is as module (length) of vector qalpha. The algorithm of inverse solution is in use for controlling movement of parallel machine tool in five axes, five rings. Using mathematical function, the algorithm of inverse solution defines relation between locus of tool tip and lengths of five bars. The invention is key technique for developing parallel machine tool as well as foundation for analyzing speed, acceleration of parallel machine tool, evaluating performance of kinematics, and algorithm of digital control system etc.

Description

technical field [0001] The invention belongs to the technical field of machinery, and in particular relates to an inverse mathematical algorithm for motion control of a five-axis five-ring parallel motion mechanism. Background technique [0002] With the development of industrial modernization, higher requirements are put forward for the technical indicators of machine tools. The development trend of the new generation of machine tools is to further meet the high performance and high integration requirements of new technologies such as ultra-precision, ultra-high speed, laser and micromachining. . In recent years, the emergence of parallel kinematic machine tools has followed this trend. The parallel kinematic machine tool is based on the space parallel mechanism, fully utilizes the potential of computer numerical control, replaces part of the hardware with software, and replaces part of the mechanical transmission with electrical devices and electronic devices. Fundamenta...

AI Technical Summary

Problems solved by technology

[0013] Parallel kinematic machine tools have two common shortcomings: first, the ratio of effective working space to machine tool volume is small

Second, because the motion platform is limited by the working angle range of the constrained hinge, the deflection angle of the motion platform is small. Although there are 6 degrees of freedom, five-sided processing cannot be performed.

Dr. Michael Schwaar of Germany invented the above five-axis five-ring parallel mechanism in 2001 and developed it into a product. He applied for a patent in Germany. The mathematical model of its inverse solution was not reported, and there were no reports about it in various domestic journals and public places. Report on Inverse Mathematical Model

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