新型直驱四轴混联数控机床运动学分析

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A novel 4-axis hybrid CNC machine tool driven completely by linear motors is proposed based on the modular design technology,and then its basic structure is described in this paper.To parallel spindle mechanism as a research object,the kinematics equation of parallel mechanism is built,and then the direct and inverse position solutions are given.So that the distribution of work space could be obtained.Finally,kinematics performance of spindle is simulated based on Jacobian matrix.The analysis results can be used as a reference for optimization of kinematics performance and motion control for machine tool parallel spindle.基于模块化设计技术,提出了一种完全由直线电动机驱动的新型四轴混联数控机床,并介绍了其基本结构型式。以该机床并联主轴模块为研究对象,建立了主轴机构运动学方程,并给出了机构的位置正逆解,由此得到机床主轴的工作空间分布。最后,基于雅克比矩阵,对主轴机构进行了运动性能仿真研究,为机床主轴的运动性能优化和运动控制提供了理论依据。