外文翻译中英对照--设计并联机床使用kinetostatic标准的表现.docVIP

THE DESIGN OF PARALLEL KINEMATIC MACHINE TOOLS USING KINETOSTATIC PERFORMANCE CRITERIA 1. INTRODUCTION Most industrial machine tools have a serial kinematic architecture, which means that each axis has to carry the following one, including its actuators and joints. High Speed Machining highlights some drawbacks of such architectures: heavy moving parts require from the machine structure high stiffness to limit bending problems that lower the machine accuracy, and limit the dynamic performances of the feed axes. That is why PKMs attract more and more researchers and companies, because they are claimed to offer several advantages over their serial counterparts, like high structural rigidity and high dynamic capacities. Indeed, the parallel kinematic arrangement of the links provides higher stiffness and lower moving masses that reduce inertia effects. Thus, PKMs have better dynamic performances. However, the design of a parallel kinematic machine tool (PKMT) is a hard task that requires further research studies before wide industrial use can be expected. Many criteria need to be taken into account in the design of a PKMT. We pay special attention to the description of kinetostatic criteria that rely on the conditioning of the Jacobian matrix of the mechanism. The organisation of this paper is as follows: next section introduces general remarks about PKMs, then is explained why PKMs can be interesting alternative machine tool designs. Then are presented existing PKMTs. An application to the design of a small-scale machine tool prototype developed at IRCCyN is presented at the end of this paper. 2. ABOUT PARALLEL KINEMATIC MACHINES 2.1. General Remarks The first industrial application of PKMs was the Gough platform (Figure 1), designed in 1957 to test tyres1. PKMs have then been used for many years in flight simulators and robotic applications2 because of their low moving mass and high dynamic performances. Since the development of high speed machining, PKMTs have becom