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

A motion control and mathematical algorithm technology, applied in the field of machinery, can solve problems such as the small size of the machine tool in the effective working space, the small deflection angle of the motion platform, and the inability to perform five-sided machining.

Inactive Publication Date: 2007-01-24
TONGJI UNIV
View PDF0 Cites 7 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Reverse resolving mathematical algorithm for five shaft five ring parallel moving mechanism moving control
  • Reverse resolving mathematical algorithm for five shaft five ring parallel moving mechanism moving control
  • Reverse resolving mathematical algorithm for five shaft five ring parallel moving mechanism moving control

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0059] Q 4 Coordinates, (-630.03, 363.75, 900); H 4 =75;

[0060] Q 5 Coordinates, (-472.98, -273.07, 1444.92); H 5 = 250;

[0061] by Q i Point coordinates can be obtained B i =(B cos β i , B sin β i ,0) T coordinate of

[0062] B 1 =(B x1 , B y1 ,0)=(472.98,-273.07,0)

[0063] B 2 =(B x2 , B y2 0) = (630.03, 363.75, 0)

[0064] B 3 =(B x3 , B y3 0) = (0, 510.09, 0)

[0065] B 4 =(B x4 , B y4 0) = (-630.03, 363.75, 0) L iThe general term formula is a parametric formula, that is, as long as it is a five-axis five-ring parallel mechanism, the structural size of the mechanism can be changed arbitrarily. The structural dimensions include the radius A of the moving platform, and the Q of the fixed frame of the rods i dot, Q i =(B cos β i , B sin β i ,q i ) T ;The distance H between each ring and the x′-y′ plane of the moving coordinate system i .

[0066] Through the modeling of the mechanical three-dimensional design software SolidWorks, a virt...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

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...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G05B19/18
Inventor 谢红张曙姚晶晶
Owner TONGJI UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap