Research Of Hybird Mechanism Machine And Control Algorithm For Marine Propeller Processing

Nowadays, the machine tools of machining the marine propeller usually havemany shortcomings as single sided processing, needing multiple clamping, lowmachining efficiency, causing the propeller’s position error and vibrating easily. Anequipment’s structure scheme based on series-paraller machine is proposed. And theseriers-paraller machine, the core component of the equipment, and the numericalcontrol of machining the propeller based on the mechanism are studied in the thesis.The mechanical structure plan of the equipment is designed according to thekey technical requirements of propeller double sided processing. The corecomponent of the equipment is seriers-paraller mechanism which consists of3-RPSparallel mechanism and conventional triaxial series mechanism. Then defining thecoordinate system and describing the pose of moving platform, the inversekinematics model is established. And the decoupling is solved with analyticalmethod. And the mapping relation between the tool’s pose and every actuating shaftis worked out. An optimization algorithm of structural parameters aiming at poseworkspace is proposed, to solve the issue that the structure parameters of parallelmechinism affect the machine tool working space. Using research of the machine’sstructure and kinematics analysis, the best distance between the center point ofmoving platform to the surface of static platform is worked out to ensure theequipment’s pose workspace is the richest.The hardware of opening numerical control system with the form of“PC+motion control card+PLC” is designed according to the equipment’s functionalrequirements. The function of the control software is analyzed, and the algorithms ofgoing back to the reference point, workpiece locating, post processing, motionexecuting and process monitoring are designed, aiming at the coordination controlrequirements of the hardware. From facilitating software upgrades, maintenance anddevelopment, the software architecture is designed. And the control system softwareis developed, with Microsoft VC++6.0as its development platform, via integratingeach software function module.In order to realize processing control of propeller, the design modelingtechnology and process of the processing technology of the propeller are analyzed.And then its three-dimensional solid model is established, and the processingprogram of the propeller is realized by using the UG software. The single sidedmachining control algorithm of the propeller is designed, and the simulation processof hybrid machine tool processing propeller is studied by using ADAMS virtualprototype technology and the machining program. After that the simulation datum are disposed with adopting once lagrange interpolation formula, and the resultsshow that the hybrid machine tool processing propeller is feasible and the controlalgorithm precision can reach the expected demand. Finally, according to theresearch of single sided processing control, the double-sided processing controlscheme of the propeller is put forward. This scheme lays the foundation for doublesided processing control of the propeller.