Parallel Machine Handwheel Functions To Achieve Correlation With The Workpiece Positioning

As a new member of the processing equipment, parallel machine tool has been increasingly paid attention to by researchers. It can’t use the handwheel modules on the traditional machine tool due to its motion control characteristics of the actual mapping. And its orientation method is different from traditional machine tool. The handwheel function is one of the key technologies in the practicability of machine tool and orientation method can improve the precision of workpiece machining. Based on the3-(2SPS) redundant parallel machine, this research is to study the implementation condition of the handwheel’s function and the orientation of the workpiece.Firstly, based on the structure characteristics of machine tools, the position equation, velocity equation and acceleration equation of the machine tool are established to analyze the effects of different configuration on machining accuracy.Secondly, the static and dynamic mathematical model of machine tool is deduced with virtual displacement principle and Lagrange equation and the motion equation of servo motor is built according to the conversion principle of single shaft transmission system.Thirdly, the hardware platform which connects the handwheel and the machine tool is introduced and the software design of handwheel working is presented. Three implementation conditions are put forward as follows:(1) The machine tool’s kinematics and dynamics calculation.(2) Rapid response to command signal of the handwheel from the servo motor.(3) The conversion calculation of different coordinate systems.On the premise of operation’s following performance of the handwheel, the required servo control system is designed with appropriate controller.Finally, the workpiece positioning is studied. Based on coordinate system transformation of machine tool, the process of the optimal position vector is expounded on the principle of machinability and processing precision of the workpiece. The measurement method on the workpiece actual position is illustrated with a practical example. And the calculation of workpiece positioning algorithm is implemented with C language.