Five Axis Interpolation Technology And Accuracy Analysis Of3-TPS Hybrid Machine Tool

3-TPS hybrid machine tool 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. The essential difference between the PMT and the traditional machine tool is that the latter’s motion track of tool is the linear combination of each steering shaft’s displacement vector in Cartesian space, but the PMT’s motion track is the non-linear mapping relation of the motion of servo axes in the joint space. For running the specified space motion of tool, it must through the inverse kinematics solution algorithm, and changing the motion information of the tool to the motion order of servo axes in the joint space; meanwhile, through the positive kinematics solution algorithm, to figure out the coordinate of tool in Cartesian space according the feedback information in the editor, then realizing the real time monitoring of the tool position. But the hybrid machine tool control technology development is premature, so there are many elements to be considered.In this paper, taking the development of the NEU about3-TPS hybrid machine tool for the study, make analysis of the kinematics, interpolation algorithm and motion accuracy. The major research is as following:(1) Analyze the development situation of the numerical controls system of parallel machine tool, analysis of the kinematics, interpolation algorithm and analysis of the accuracy, and introduce the background and meaning of the project in briefly.(2) Take the analysis of the structural features of the3-TPS hybrid machine tool, and build the figure pattern of kinematics transform, and infer the equations of positive kinematics solution and Inverse kinematics solution.(3) Analyze the method of the tool Interpolation, and research the five-axis machining tool interpolation algorithm about spatial lines and spatial circular arc of hybrid machine tool, and interpolation algorithm of complex curve.(4) Infer the transfer function about hybrid machine tool’s machining accuracy which is influenced on the length of the driving links, joint on the action platform, and parallel movement error, meanwhile emulate with the M program.