C-shaped Gantry Parallel Machine Tool Applications Open CNC System And Trajectory Planning Research

Based on the research object of C-Shape parallel CNC milling machine, the foundation of3-2(SPS) parallel mechanism with additional redundant drive, in order to achieve better control and achieve better performance, kinematics,statics, branched chain dynamics, interpolation algorithm and trajectory planning are researched and studied.Firstly, according to the structure characteristics and parameters of the parallel machine, establish relevant coordinate system,then kinematics analysis was studied. establish the kinematics equation of the mechanism. Based on the equation,get the velocity Jacobian matrix and the force Jacobian matrix of the mechanism,then analyze the statics,then the branched chain dynamics of the mechanism is analysed, calculate the Torque and Moment of Inertia of the motor shaft,analyse the relationship between the Torque of the motor shaft and the force on the movable platform.Secondly, based on the character of parallel machine and the needs of real-time control, interpolation algorithm is studied,firstly in Cartesian space,then in actuator. In Cartesian space, the algorithm of line interpolation、circle interpolation are studied,in actuator, PVT interpolation mode is studied.At last,in order to optimize the criterion of stiffness and dexterity, trajectory optimization is studied. Dexterity index and stiffness index are analyzed. Then establish trajectory function and the simulation analysis.The result shows that the performances can be kept well by adjusting the movement of slipper block.