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为了研究6-TPS并联机床曲面加工的刀具姿态能力问题,首先对刀具的切触干涉、外缘干涉以及机床支链杆长极限、支链干涉、铰链约束和奇异位形对刀具姿态的制约进行了分析,得到了相应的约束表达式;其次分析了相邻支链同侧铰链点的布位对支链干涉检验计算量的影响,并从降低运算复杂性的角度提出了确定同侧铰链点间的距离公式.基于得到的约束表达式及距离公式,给出了确定6-TPS并联机床采用平底刀加工曲面时刀具姿态角许用取值域的有效算法.该算法可用于曲面加工过程中的刀具姿态控制,以避免曲面的过切现象.
In order to study the tool attitude capability of 6-TPS parallel machine tool surface machining, firstly, the control of cutting tool interference, peripheral interference and limit of machine tool chain length, branch interference, hinge constraint and singularity profile on tool pose are carried out Then the corresponding constraint expression is obtained. Secondly, the influence of the position of the adjacent side-to-side hinge points on the computation of branch interference checking is analyzed. From the point of view of reducing the computational complexity, Based on the obtained constraint expression and distance formula, an effective algorithm is proposed to determine the permissible value range of tool attitude angle when a 6-TPS parallel machine tool is machined with flat knives. This algorithm can be used in the process of surface machining Tool attitude control, to avoid the phenomenon of surface overcut.