| Parallel Machine Tool (PMT) is the high-tech product combined with robot technology and machine tools. PMT possesses the distinguished advantages of high precision, high acceleration, high velocity, high stiffness, high flexibility and low weight. PMT is one of the most active fields in contemporary science technology. It has bright future and high scientific research value. This paper studies the correlated problems of the 6PUS-UPS PMT mainly. The main contents are shown as follows:In the beginning of this paper, the development of PMT domestic and abroad is introduced. The status of theory study about PMT and its application is mentioned in detail. With that, the significance of the topic is presented at last.The paper introduces the composition and characteristics of 6PUS-UPS parallel manipulator. The transform relationship between motion parameters in generalized coordinate system and motion parameters in Cartesian coordinate system is got, which paves the way for the dynamic modeling of the PMT.The dynamic equation of 6PUS-UPS PMT is set up by Lagrange method. With the MATLAB software, the driving forces and driving torques required under different conditions through some typical motions are solved and the inverse dynamics of the PMT is analyzed.With the ADAMS software, the virtual prototype model of 6PUS-UPS PMT is created. The friction model is established and the dynamic simulation is carried out. Then compared the simulation results and theoretical results and ensured the validity of dynamics analysis.The finite element modal of the 6PUS-UPS PMT is established and the modal analysis is carried out. Then the nature frequency and vibration modes of the PMT are got. According to the results obtained from modal analysis, the weakest taches of the PMT structure is found and the dynamic characteristics of the of the 6PUS-UPS PMT is got. |
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