Research On Motion Control Technology Of3-TPS Hybrid Machine Tool

Hybrid machine tool is a new parallel machine tool in which the serial structure is emphasized. It combines serial and parallel structure, not only inherits the characteristics of big rigidity, high speed and large workspace from the PMT, but also restricts the freedom of the structure and makes the moving platform move compliantly because of the serial structure. Further more, as a measure chain the serial structure can improve the moving precision of the machine tool.Although the research of hybrid machine tool has achieve a little progress and results, the current focuses of the HMT research are still on its design, try and error stages. Because hybrid machine tool is simple on structure, but its processing space and drive space is a highly non-linear mapping relation. This lead to movement control much more complex than the traditional machine tool. For the hybrid machine tool control technology development is premature, at present, most control uses the traditional machine tool control technology. However, the control accuracy is not ideal, and it can not play the structural advantage of parallel machine tool. So there are many elements to be considered on associated control algorithm that can play advantage of hybrid machine tool structure and improve control accuracy and the development of hybrid machine tool control system.In this paper, taking the development of the3-TPS hybrid machine tool for the study, make analysis of the related motion control strategy and algorithm analysis. The major research is as following:(1) Make an analysis of motion control basis of3-TPS hybrid machine tool, including the analysis of mechanism and a brief analysis of kinematics transform equations and system hardware and software components.(2) Take analysis of the parallel machine tool motion control process and strategy. On this basis, give two control strategies on the basis of3-TPS hybrid machine tool characteristics.(3) Take analysis of feed rate planning control algorithm of the hybrid machine tool, and research on two control strategies of the hybrid machine tool; take analysis of concrete realization process. Take a research on spindle vertical posture control strategy of coordinate processing. Analysis the application of function law control program of driveshaft on3-TPS hybrid machine tool.(4) Take analysis of interpolation strategy of hybrid machine tool, Analysis coarse interpolation algorithm of coordinates and the interpolation algorithm in joint space. And proposed a refined method to improve the interpolation algorithm. Then take a simulation of precise interpolation algorithm and its impact on track error under two precise interpolation strategies through the MATLAB software.In this paper, it provides a practical basis of control algorithms and strategies for3-TPS hybrid machine tool’s motion control through the work mentioned above.