摘要
通过建立插补方程组,研究不同刀位点的位姿状态与坐标变换,得出坐标系之间的数学模型,根据仿真结果验证其有效性。依托五轴数控机床建立插补方程组,分析不同加工方向的插补模型;运用齐次矩阵变换法和数值赋值反算法,并结合机器人学中经典的D-H法建立其坐标系之间的数学模型,得出机床刀架实现转动时的位姿状态,各轴运动的坐标值及运动学方程;使用Matalb和Adams进行空间轨迹规划与运动学仿真。通过仿真分析,结果表明动力刀架在加工过程中的位姿姿态与平稳性符合前期设计要求,机床的整体运动性能良好。结论:刀具完全按照设计要求的轨迹规律在运动,验证了方法的有效性及合理性。
To study the pose state and coordinate transformation of different tool positions by establishing the interpolation equations,and obtain the mathematical model between the coordinate systems,and verify the validity according to the simulation results.Based on the five-axis CNC machine tool,the interpolation equations are established,and the interpolation models of different machining directions are analyzed;using the homogeneous matrix transformation method and the numerical assignment inverse algorithm,combined with the classical DH method in robotics,the mathematical model between the coordinate systems is established,and the pose state of the machine tool holder is realized,and the coordinate values of each axis motion are obtained.And kinematics equations;spatial trajectory planning and kinematics simulation using MATALB and ADAMS.Through simulation analysis,the results show that the pose and stability of the dynamic tool holder during the machining process meet the requirements of the previous design,and the overall motion performance of the machine tool is good.Conclusion:The tool is moving in accordance with the trajectory law of the design,which verifies the validity and rationality of the method.
作者
李新闻
李玉莲
LI XinWen;LI YuLian(College of Nuclear Technology and Automation Engineering,Chengdu University of Technology,Chengdu 610059,China;Zhejiang University of Technology,Hangzhou 310023,China)
出处
《机械强度》
CAS
CSCD
北大核心
2020年第3期654-660,共7页
Journal of Mechanical Strength
基金
国家级大学生创新创业训练计划项目(201710616060)
四川省教育厅科研计划项目(18ZB0067)
成都理工大学智能制造学科项目(10800-17Z0620)
成都理工大学机械工程专业教学创新团队项目(10912-JXTD201501)资助。
关键词
位姿状态
坐标变换
插补模型
D-H法
轨迹规划
Pose state
Coordinate transformation
Interpolation model
D-H method
Trajectory planning
