Study On Kinematics Dynamics And Simulation For3-TPS Hybrid Machine Tool

Hybrid machine tool combines serial and parallel structure and inherits the characteristics of large workspace, big agility, axes independent control and easy calibration from traditional machine tool. It also inherits big ratio of rigidity and avoirdupois, fast response, high machining accuracy, good suitability for circumstance and high content of technology from parallel machine tool. Hybrid machine tool spurns disadvantages in pure parallel or pure serial machine tool which leads to an effective increase in recombination, processing capability and machining accuracy.At present the3-TPS hybrid machine tool which designed by northeastern university has produced the actual prototype. The dissertation studied many problems such as kinematics, kinematic behavior, dynamics, simulation, and so on which based on foregoing research and the actual prototype’s structure and size of the5-DOF hybrid machine tool. The detail contents are as follow:(1) Introduced the hybrid machine tool research status and development trends, summed up the hybrid machine tool main theories and key technologies.(2) The kinematics problems of the3-TPS hybrid machine were analyzed in detail. Those problems include calculate the DOF, inverse position analysis of the parallel mechanism, inverse and direct position analysis of the parallel locking mechanism, direct position computation of the machine, input and output velocity and acceleration analysis of the machine and so on. The method presented in the thesis to calculate the direct position of the machine is of high efficient. Its astringency is independent of the initial value’s selection.(3) The kinematic behavior of the hybrid machine was researched. The workspace, singularity and smartness of the3-TPS hybrid machine were analyzed.(4) The dynamic model of the machine was established by using Lagrange method. The author divided the machine into four subsystems:the moving platform, the three driving legs, the parallel locking chain, and the45°swing. The kinetic and potential energies of the three subsystems were calculated respectively. Finally, the dynamic equation of the whole system was given.(5) Established the3D model of the3-TPS Hybrid machine tool and then imported the assemble model into ADAMS/View to simulation. Simulated the speed, the acceleration and the force changing curves of the driving links when the tool moving by maximum speed and simulated the driving force changing curves of the driving links when the tool moving by maximum acceleration, and then obtained the kinematics and dynamics characteristics of the3-TPS hybrid machine. Finally the author simulated the driving torque of the45°swing.