Research On Tool Path Control System For6-UPU Parallel Machine Tool

As a new manufacturing machinery, parallel machine tools have features of high rigidity, low inertia, and the input error does not accumulate and it has high bearing capacity. In the machine tool research for a new generation, it becomes a hot research field. Parallel machine tool has features of simple structure and complex control. In the research and design of the control system, it is different from the traditional control method of machine tool. Different structure. different control system. In order to improve the swing angle range of6-UPU parallel machine tool spindle in space, to realize the control of tool motion path, the main research contents of this paper are as follows:Researching the assembly of the control system, in the formation of the parallel machine tool control system, in order to increase the maneuverability and humanization of the control system, designing the control system interface based on the traditional interface of CNC machine tool. Rules for the preparation of the NC program according to the traditional machine tools.Analysis of the mechanical structure and constraint characteristics of6-UPU parallel machine tool, the machine tool is the position inverse solution, and the workspace is analyzed in brief.Presented a method of the Implementation of the parallel machine tool control trajectory. First, analyzing the motion of the virtual axis. Then the mapping of virtual axis motion to the real axis. Finally, to realize the parallel machine tool motion control by controlling the real axis motion. On the imaginary axis motion planning, presented a spatial interpolation algorithm. According to the spatial rotation of spindle, presented a method of imaginary tool dot arc motion of tool and platform of the intersection, realized turning the control implementation tool.Based on the theory of motion control, motion planning for machine tool motion axis parallel machine tool. According to the mechanical structure of6-UPU parallel machine tool, we calculate the mapping relation between the cutter shaft and each branch member, and reach a conclusion of the variation of each branch member, and developed the control system of parallel machine tool. The branch of the stepping motor pulse control, realized trajectory control of the parallel machine tool. The control system is tested on the6-UPU type parallel machine tool, the main spindle swing angle in the range of±30°.In the dip slope is30°.The working performance of the machine is verified, and the experimental results verify the feasibility of the theory. It can realize the precise control of the parallel machine tool motion trajectory.