Design And Dynamics Study Of A New Of Reconfigurable Machanise Parallel Machine Tool

The new type of reconfigurable mechanism parallel machine tool is a parallel machine tool based on a new type of six-degree-of-freedom reconfigurable parallel mechanism,It has 6 degrees of freedom,and there are only three branches between the fixed platform and the moving platform,which greatly reduces the interference between branches chains.Compared with the traditional series machine tools and general parallel machine tools,the new type of reconfigurable mechanism parallel machine tool have larger working space,better dynamic performance,higher flexibility and stronger adaptability in addition to good bearing capacity and good stiffness.The new type of reconfigurable mechanism parallel machine tool has the characteristic of reconfiguration.The three branch chains of the parallel platform can realize the flexible conversion between the moving pair and the rotating pair,so as to realize various configurations and adapt to different working environments.In this paper,kinematics and dynamics of a new type of reconfigurable mechanism parallel machine tool are studied.First of all,a new type of reconfigurable mechanism parallel machine tool is designed on the basis of the new type of six degrees of freedom reconfigurable parallel mechanism.The parallel machine tool has a 3-UPS,2-UPS-URS,2-URS-UPS and 3-URS four configurations.This paper uses the D-H parameter method to analyze the kinematics inverse solution of the parallel machine tools,obtaines the inverse solution equation of the parallel machine tool,and a numerical simulation is carried out.Then based on the kinematics inverse solution analysis,this paper analyzes the constraints of parallel machine tools,and uses the polar coordinate search method to compare and analyze the workspace of each type of the new type of reconfigurable mechanism parallel machine tool.It is providing a theoretical basis for the parallel machine tool to achieve engineering applications.Secondly,this article uses the vector method to analyze the velocity and acceleration of the new type of reconfigurable mechanism parallel machine tool.On this basis,the dynamic analysis of the parallel machine tool is carried out,and the power of the parallel machine tool is constructed by Lagrange equation method.The equation is studied and the dynamic numerical simulation analysis is carried out to provide a theoretical basis for further research on the parallel machine tool.At the end of this paper,the dynamic simulation of dynamics of the new type of reconfigurable mechanism parallel machine tool is carried out.The results of virtual simulation analysis and numerical simulation analysis are compared,which is verify the dynamic numerical analysis.