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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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  • Summary
  • 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 of three symmetrically distributed identical branch chains, and does not involve redundant branch chains, which is different from this mechanism

Method used

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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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Embodiment Construction

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

[0040] The shape of the static platform 1 is an equilateral triangle, and the four branch chains are respect...

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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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