并联加工机的加工过程仿真

用6参数建模方法建立了6－PSS型并联加工机的逆运动学模型，即由给定刀具位姿求解滑块的位移，并根据运动的边疆性求出滑块位移的唯一解，根据轨迹规划中得到的不同时刻刀具位姿，求出相应的滑块位移，并采用三维图形软件开发包OpenGL开发了仿真软件，以显示6－PSS的运动过程，结果验证了所建模型及插补算法的正确性。

Simulation of the Motion of Parallel Machine Tool

Six parameters are used to build up the inverse kinematics model for the 6 PSS parallel mechanism, that is, to compute the displacement of each dieblock according to the given position and orientation of the cutter. The unique value of each dieblock is determined based on moving continuity. During the trajectory planning, positions and orientations of the cutting tool at any moment can be obtained, and the corresponding displacements of the dieblocks can be calculated. In order to display the machining process visually, the simulation software has been developed using the three dimensional graphics development software package OpenGL. The analysis given proves that both the method of modeling and the interpolation algorithm are valid, thus providing a basis for practical system development.