Development About Workpiece's Orentational System Of 5-UPS/PRPU Parallel Machine Tool

The thesis elucidates the orientational principle and programming andcalculating way of system of workpiece's coordinate of a 5 axis standing virtualCNC machine tool which is based on a novel 5-DOF parallel mechanismsystematically and all-roundly.The orientational method of system of working-piece's coordinate of thePMT is introduced which makes use of orientational vector. General route ofworkpiece's orientation is brought up, which is the principle of accuracy andthat of being capable of processing of CNC machine. Estimate guideline ofsynthetical errors coefficient and flexibility of Jacobian matrix(sensitive degreeof synthetical errors, sensitive degree of errors direction and sensitive degree ofabsolute errors)are applied to search for norm position and posture which isbased on analyzing various factors which influence on workspace of machine.Norm vector of tool stalk, form heart vector of tool's position and posture,primal and orientational vector are made use of . Norm vector of tool stalk insystem of machine bed's coordinate, form heart vector of tool's position andposture in system of workpiece's coordinate and transforming relation betweenthem are applied to certain primal and orientational vector. Simple calculationof delivering matrix of system of working piece's coordinate versus system ofmachine bed's coordinate is introduced. The process in which tool's positionand posture is transformed the position and posture of the moving platform isdiscussed detailedly , which is used to verify whether the moving platform is inthe workspace.A problem which belongs to confining, nonlinear and optimizing problemis summarized by the use of orientational programming. Concrete optimizingequation is given, and a kind of improved reunite the form method is adopted.The primal reunite form is structured in the light of the primal andorientational vector. Synthetical errors degree is optimized as target functionvalue in the primal reunite form, and minimum target function value isregarded as optimizing orientational vector in the reunite form.Fast measuring method of the position and posture of workpiece isbrought up by mathematic knowledge and transforming relation of coordinatesin system of machine bed's coordinate, which facilitates the clamp andprocessing of workpiece.Above mentioned calculation is realized by VB language and performedand elucidated by concrete example.