| Because traditional chamfering tooth of spiral bevel gear mainly rely on handwork, it is difficult to promote machining efficiency and assure product quality. The spiral bevel gear chamfering equipment is designed in this paper.The work in this paper are as follows:(1) According to its application, the mechanical structure of 6-HTT parallel manipulator which is core component of spiral bevel gear chamfering equipment is designed in this paper.(2) The positioning-kinematics equations are given for 6-HTT parallel manipulator. The solving process of the position inverse solution of 6-HTT parallel manipulator is deduced. The workspace of parallel manipulator is researched.(3) Motion control system of 6-HTT parallel manipulator is designed. Influencing factors of errors in parallel manipulator are analyzed. The error compensation system that is based on single-limbed closed-loop control is set up.(4) Process planning of chamfering tooth of spiral bevel gear is researched. Mechanical structure and motion control hardware of spiral bevel gear chamfering equipment are finally designed. This paper presents software structure of motion control system, discusses main function modules. |
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