五自由度混联虚拟轴机床设计.docVIP

本科生毕业5-DOF hybrid virtual axis machine tool design 摘要 并联机床又称为虚拟轴机床是机构学理论、机器人技术与数控技术结合的产物，其原型是并联机器人操作机。 针对传统数控机床和现有并联机床不足之处，借鉴了传统数控机床和现有并联机床的优点，将串联结构与并联结构有机融合，通过机型综合，提出了一种混联结构并联机床。 在本次设计中，主要设计的是“3 并联轴+2 串联轴”的五坐标联动，机床的研制分为二大部分：一是确定其机械结构方案包括机床机架设计；动平台设计；终端执行器设计等。二是研制控制电路和控制软件等。机床应有三个性能指标：对称性、工作空间、各向同性的基础上来设计混联机床。 最终设计出了机床的基本结构，并用CAD完成了样机的绘制。 关键词:并联机床 虚拟轴机床 并联机构 自由度 ABSTRACT Parallel machine tools(PMTs)，which also called virtual axis machine tools(VAMTs),is an combination outcome of robotic technology and numerical control technology. Its prototype is parallel robotic manipulators. Aiming at the deficiency of traditional NC machine tool and parallel machine tool, the advantages of traditional NC machine tool and parallel machine tool are used for reference, three hybrid type PMTs, which combine serial structure with parallel structure, are proposed in this dissertation through type synthesis, and Invention patents have been applied for them. In this design，the main design is that five coordinates axes move together throng three parallel axes and two inseries axesThe research and manufacture of machine tools consist of two parts. At first, mechanical structure scheme includes design of machine tools shelfand move platform and end effector, etc. Second, there are study and manufacture of control circuit and so on. There are three performance indexes: symmetry.，workspace，isotropy. On the basis of these, series-parallel machine tools were designed. At last me designed the basic structure of the tool machine, counteracted the tool of CAD to complete the kind machine to draw. Keywords: Parallel Machine Tool Virtual Axis Machine Tool parallel mechanism degree of freedom 目 录 摘要 1 第一章 绪论 1 1.1 课题研究的目的和意义 1 1.2 国内外研究现状 3 1.2.1 并联机床发展历史回顾 3 1.2.2 并联机床的研究现状 4 第二章 混联虚拟轴机床结构与设计 6 2.1 并联机床的结构 6 2.1.1 并联机床的结构要素 6 2.1.2 并联机床的典型结构 6 2.2 并联机床的理论设计方法 8 2.2.1 原始参数确定 8 2.2.2 概念设计和运动综合 8 2.2.3 控制系统设计和标定 9 2.2.4 样机试制与性能试验 9 第三章 混联虚拟轴机床并联部分的设计 10 3.1 毕业设计课