Research On Configuration Design And Performance Of Five-axis Linkage Hybrid Kinematics Machine With Large Pendulum Angle

Compared with the traditional series machine tool,parallel machine tool with large stiffness weight ratio,fast response speed,high processing precision,good flexibility.However,the parallel machine tool has such shortcomings as the limited working space,low flexibility,the narrow scope which limits its development in the field of engineering application.Hybrid machine tool set and the advantages of series machine and parallel machine tool,while avoiding their own shortcomings,which is more practical in the modern manufacturing industry.In view of parallel mechanism and series mechanism in the configuration above the duality relation and make the parallel mechanism and serial mechanism combined.Then the hybrid mechanism configuration was put forward which composed of three DOF parallel mechanisms and two degrees of freedom motion platform,and making the hybrid mechanism as CNC machine tools mechanical body for five-axis linkage hybrid kinematics machine with large pendulum angle.In this paper,the research and analysis of configuration design,kinematics,dynamics and the error of virtual prototype of five-axis machine tool with large Pendulum angle was solved by us.And solve the existing hybrid machine tool in ensuring the stiffness under the premise of malpractice tool angle is limited,effectively expanding the tool working space.Main research contents of this article are as follows:First,this paper studied on the configuration design of five-axis linkage hybrid machine tool with large pendulum angle.The tool pendulum angle of the traditional parallel mechanism which was limited due to the high stiffness.Then the hybrid mechanism configuration is presented which composed of three DOF parallel mechanisms and two degrees of freedom motion platform.Then the kinematic principle and its degree of freedom are analyzed by the screw theory.The results show that the configuration of the five-axis machine tool with large pendulum angle is reasonable.And the configuration has a low degree of freedom,and its drive of the motion is reasonable too.Second,this paper studied on the kinematics of large pendulum angle of five-axis hybrid machine tool.The kinematics of this HKM was analyzed by using the closed-vector method and velocity mapping.The inverse solution of position analysis was presented.The position of positive solution of drive angle was analyzed by the numerical method and neural network method.With the position,inverse solution as the condition,the working space of the mechanical machining process is obtained by the numerical search method.The results show that,the process stability of the machine is good and its working space are relatively large,the pendulum angle can reach(7)-40 ~90(8)? ?,and the mechanical machining process with no dead center.Third,this paper studied on mechanism design and dynamics analysis of five-axis linkage Hybrid Kinematics Machine with large pendulum angle.The dynamic problem was analyzed by dynamic theory.The dynamic equation of the parallel machine tool module was established by Kane method.Then the Kane equation was presented and analyzed.The drive linkages and the moving platform of the stress situation were analyzed by mat lab,Adams,and other software.The results show that the dynamic performance of each driving linkage and the dynamic platform is good.Finally,this paper studied on the operation error of the virtual prototype of five-axis linkage Hybrid Kinematics Machine with large pendulum angle.The corresponding error mathematical model was established by the principle of error independence.In the studying of the error,the structure parameter error of the machine tool was mainly considered,the length error of the driving linkages,the position error of the hinge point on the sliding block,the position error of the hinge point of the moving platform and the attitude error of the moving platform were included.Through the simulation experiment,it was concluded that the structural model of the machine tool and its dimension parameter could satisfy the requirements of machining accuracy.