Research On Control System Of 3-PRS-XY Series-parallel Machine Tool

As one kind of recently developing machine tool,the series-parallel machine tool gained widespread attentions from researchers and has wide prospect of development and application because of the advantages of high stiffness mass ratio,excellent dynamic properties,high kinematic accuracy and versatility.In this research,a new type of series-parallel machine tool is taken as an object for establishing the model,analyzing the kinematics,terminal trajectory and developing the control system.The performance is verified by simulation and experiment.The main research contents are as follows:(1)The theoretical research and development of control system about 3-PRS-XYseries-parallel machine tool have been finished.According to the characteristic of machine tool,the “PC+Motion control card” is utilized as the control system of machine tool.The parameters configuration and multi-motion control are realized in the combination of multiple software.(2)According to the structural and working characteristics of the machine tool,kinematic modeling and calculation module of the series-parallel machine tool are established.The forward and inverse kinematic equations of the machine tool are solved to get the coordinates of execution terminal position.The model of terminal trajectory error is established and analyzed through evaluating the potential error source.(3)Based on the basic movement of machine tool,the teaching and playback function are developed.The teaching files are created by manipulating each part of mechanism manually.The contents of teaching files can be reproduced by executing playback function.The results of teaching phase and playback phase are compared to verify the feasibility of this function.(4)The development of numerical control code interpretation compilation system has been achieved.Based on the regular expression,the functions of inputting,reading,checking,explanation,translation and motion control of G code are realized by the compiling the universal G code compiler of control system.The feasibility of numerical control code compilation system is verified by movement trajectory experiment of mechanism.