Study On Kinematics Transform And Correlative Arithmetic In Numerical Control System Of Parallel Machine Tool

Based on the study of numerical control system of 3-TPS parallel machine tool, the paper studies and analyses kinematics transform and correlative arithmetic which is a peculiar module in parallel machine tool's numerical control system. The study is applied for emotion controller design in parallel numerical control system.For traditional machine tool, knife motion contrail is a linear combination of the control axis in Cartesian space; but for the parallel one, it is a non-linear map of the servo axis movement in joint space. The knife kinematics information needs to be transformed from Cartesian space to the servo axis via inverse kinematics algorithm. Meanwhile, the detected joint space coordinates need to be transformed to Cartesian space with forward kinematics algorithm.The paper mainly studies the following four parts.Firstly, it analyses the character of 3-TPS parallel machine and constitutes its kinematics mathematics module, and raises kinematics forward and inverse arithmetic equation.Secondly, the kinematics arithmetic is carried out separately in three machining styles concretely. The paper analyses problems existing in five-coordinate style particularly. The Cartesian value area is ascertained.Thirdly, the paper analyses the velocity and acceleration relation between knife control point and end point in order to restrict maximum velocity and acceleration of control point, and brings forward the velocity equation between the knife axes and parallel machine.The last, the test hardware and software configuration are introduced, and kinematics transform function module is programmed with C language. They are tested in the simulative platform to testify the kinematics transform arithmetic capability.