Development And Experimental Research On Five-axis Associated Redundant Drive Parallel Machine Tool Control System

The driving control of the parallel machine tool is based on the kinematic calculation.The kinematics efficiency affects the overall dynamic performance of the parallel machine tool.Motion control accuracy is an important measure of machine performance,and closed-loop control is to improve the accuracy of equipment,improve the overall performance of the device an effective means.In this paper,5-UPS/PRPU parallel machine tool is as the research object,its kinematics algorithm embedded,flexible force drive control,end-effector closed-loop control and other related aspects are researched,the main contents are as follows:The kinematic relationship of 5-UPS/PRPU parallel machine tool in redundant drive is deduced,which provides the basis for the embedding of kinematics equation.A new driving method is introduced and the flexible force drive device is designed and manufactured to solve the problem of the parallel Intermediate PRPU constraint branching large slider.The jogging motion control strategy based on embedded kinematics is developed,and the process of embedding the kinematic operation into the motion controller is completed.The jogging function of the tool at the end of the parallel machine tool is realized,which provides basis of the manual fast positioning of the parallel machine tool,processing tooling,posture adjustment and other works.The design and implementation method of cascade servo control are studied.On this basis,a small slider position servo control strategy and a large slider force servo control strategy are proposed.The resetting of the parallel machine tool in the redundant state is studied,and the parallel machine tool system based on the redundant drive zero force output is realized.The system is fully closed-loop control,and the whole system is developed.Closed-loop control strategy to achieve the parallel machine-driven redundant system under the closed-loop control,improve the parallel machine tool motion control accuracy.The NC code analysis module is developed to realize the NC code analysis function based on the motion controller.The experiment of measuring the friction resistance of the large slider is carried out to determine the size of the damping force in the process of moving the large slider.The position parameter calibration experiment of the parallel machine tool is completed by means of the position measurement function of the laser tracker.Based on the establishment of the structural parameter identification model,the position parameter calibration experiment of the parallel machine tool is carried out.The genetic algorithm is used to identify the structural parameters of each joint,and the kinematic algorithm of the parallel machine tool is modified.In the open-loop and closed-loop control mode,the trajectories of the tool nose point of the parallel machine tool are sampled and analyzed respectively.The feasibility of system close-loop control and the effectiveness of improving the control accuracy are verified.