Kinematics Analysis And Simulation Of New Five-axis Linkage Hybrid Machining Equipment

The machining equipment on the early market was dominated by tandem structure.Tandem robots have large working space,high flexibility and easy operation of functions and are very popular in the market.Parallel robots have the characteristics of large rigidity,high accuracy,and non-accumulation of position errors,and have become a research hotspot in the field of robotics.This paper proposes a configuration equipment based on 3UHR+2R,which mainly studies the inverse kinematics and simulation analysis of the new five-axis linkage hybrid processing equipment.Through the comparison and analysis of the two methods,an algorithm model suitable for industrial needs is obtained.,And realized the development of the control system.First of all,because the new equipment is a series-parallel hybrid structure,a two-step method is proposed in the inverse algorithm derivation process: the first step is to perform inverse kinematics analysis on the parallel(3UHR)part.Through the analysis of the motion characteristics and degrees of freedom generated by the motion of the new five-axis linkage equipment,the constraint conditions for the 3UHR of the mechanism are obtained,and the inverse kinematics is obtained by the quaternion method and the Newton iteration method;the second step is to connect the end of the parallel part As a way of combining the intermediate variable and the series part(2R),a complete inverse kinematics algorithm model is obtained.The derivation algorithm is imported into MATLAB for simulation,and the forward kinematics analytic formula of the new equipment is obtained using the base coordinate method,and the various parameters of the reverse kinematics are brought to verify the correctness of the derivation algorithm.Secondly,on the basis of the above theory,the derivation of the five-axis algorithm model introduces the idea of dual quaternion elimination,and realizes the inverse kinematics solution based on the dual quaternion.The inverse solution model is simulated in MATLAB with the first This method chooses a better method from the aspects of singularity and algorithm effectiveness.Then,on the basis of obtaining the algorithm model,the work space of the new equipment is obtained by simulation,and the timeliness and working accuracy of the algorithm are analyzed,and the algorithm is optimized to obtain the technology that can meet the needs of industry.The development of the control system is further realized.The development process of the entire control system of the five-axis linkage hybrid equipment is roughly divided into three parts.The core control system is the PC motion control system andthe algorithm control system,based on the Twin CAT software using IEC61131-3 Control system developed by assembly language.Because the hybrid structure is relatively complicated in both mechanical design and control algorithm,research resources at home and abroad are scarce.To a certain extent,the research of this subject can improve and expand the research background of related fields,and has technical reference value for future innovation.