Research On Kinematic Simulation And Control Algorithms For 3-TPS Hybrid Machine Tool

Hybrid machine tool is a variation design in order to avoid scarcities of traditional and parallel machine tools. It combines serial and parallel structure and inherits the characteristics of large workspace, bigger agility, axes independent control and easy calibration from traditional machine tool, and bigger ratio of rigidity and avoirdupois, fast response, higher machining accuracy, better suitability for circumstance and higher content of technology from parallel machine tool. Hybrid machine tool spurns disadvantages in pure parallel and serial machine tool which leads to an effective increase in recombination, processing capability and machining accuracy.The thesis investigates the issues related to Hybrid machine tool in China and overseas countries and focuses on the design and analysis of a series of aspects such as mechanism performance,kinematics,workspace etc, meanwhile a kinematics simulation system is implement for the Hybrid machine based on Pro/E and ADAMS.Analysis of Kinematics:Inverse position analysis of the machine, inverse and direct position analysis of the parallel locking mechanism, Jacobian matrix of the machine, Jacobian matrix method forward position computation of the machine, kinematics simulation of the machine, and so on. With the help of MATLAB, positive and reverse kinematics(Displacement,Velocity,Accelerated Velocity)analysis is presented, which makes the characteristics of the machine tool kinematics.Analysis of Mechanism Performance:The workspace of movable platform is described by MATLAB software based on the method of numeric.Adopting the indicators of operable degree to study the singularity of the machine; The condition numbers and operand of the Jacobian matrix are analyzed to the motor dexterity of the mechine, MATLAB is used for count and three dimensions drawings to make analysis visual.Analysis of Mold and Kinematics Simulation:Obtaining the entity model and kinematics simulation with the help of Pro/E and ADAMS, using the point-driven, spline functions, and measurement functions provided by ADAMS can be easily solved the positive solution of hybrid machine tool and the kinematics characteristics of Hybrid machine is analyzed based on the results.Several kinds of controlling arithmetic have been discussed in the thesis. The controlling policy is finally settled by the simulation contrast, in which Fuzzy PID is used to fulfill the close-door controlling.