六自由度并联机床的工件坐标系定位

以六自由度6-TPS型并联机床为模型,分析了工件坐标系定位对刀具加工范围和运动精度的影响,并据此将工件坐标系定位归结为一类兼顾作业空间和运动精度的有约束非线性规划问题。基于求解非线性规划的复合形法,提出并开发了工件坐标系定位算法,并给出具体的算法流程。这种方法包括确定初始定位矢量、构造定位矢量的初始复合形、建立目标函数和优化计算4部分。最后,针对一组给定的刀位文件,利用上述方法进行了机床的定位规划和计算,验证了算法的合理性和实用性。

Workpiece coordinate system location for 6-D parallel kinematic machine tools

The kinematic accuracy of models of 6-D 6-TPS parallel kinematic machine tools are influenced by the locating of the workpiece coordinate system (WCS) in the machine's workspace. The analysis of the workpiece coordinate system location in the machine coordinate system was reduced to a class of nonlinear programming problems. The composite simplex algorithm was used to solve for the workpiece coordinate system location. The algorithm calculates an initial location vector, builds an initial composite simplex based on the initial location vector, and then optimizes an objective function for the kinematic accuracy. An example is given to optimize the location vector of a 6-TPS parallel kinematic machine tool for a given set of cutter locations.