KINEMATICS CHARACTERISTICS AND MODELING METHOD OF GANTRY PARALLEL STRUCTURE

XU HuiXing

doi:10.16579/j.issn.1001.9669.2015.06.008

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KINEMATICS CHARACTERISTICS AND MODELING METHOD OF GANTRY PARALLEL STRUCTURE

更新时间：2022-09-22

- KINEMATICS CHARACTERISTICS AND MODELING METHOD OF GANTRY PARALLEL STRUCTURE
- Journal of Mechanical Strength Vol. 37, Issue 6, Pages: 1186-1189(2015)
- 作者机构：
  
  1. 江西环境工程职业学院
- 作者简介：
- 基金信息：
- DOI：10.16579/j.issn.1001.9669.2015.06.008
  CLC：
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XU HuiXing. KINEMATICS CHARACTERISTICS AND MODELING METHOD OF GANTRY PARALLEL STRUCTURE. [J]. 37(6):1186-1189(2015)
DOI：

XU HuiXing. KINEMATICS CHARACTERISTICS AND MODELING METHOD OF GANTRY PARALLEL STRUCTURE. [J]. 37(6):1186-1189(2015) DOI： 10.16579/j.issn.1001.9669.2015.06.008.

摘要

龙门式数控机床中并联结构的运动特性对机床加工精度有着重要的影响,本文针对龙门式并联结构的运动特性进行建模,并分析结构的动态响应性能。以平面运动的龙门式并联结构为研究对象,针对具有平行四边形结构特点的并联结构进行运动分解并建立系统运动学模型。研究了龙门式并联结构的运动控制方法,建立了输入与输出之间的象函数模型。基于此,采用优化算法得到了并联结构的最优的运动控制参数,该方法可大大提高并联结构的快速响应性能。

Abstract

The kinematics of parallel structures in machine tool play an important role in the machining precision,and this paper focused on the kinematics and modeling of gantry parallel structure to analyze the dynamic response performance of the structure. It took a gantry parallel structure with plane motion for example,decomposed the motions of parallel structure with parallelogram,gave a gantry kinematic model of the system. Motion control method was studied to establish a projection function of model by the inputs and output. Based on this,the optimization algorithm was proposed to obtain the optimal control parameters for parallel structure,and the method can greatly improve the quick response of the parallel structure.

关键词

并联结构运动学模型动态响应控制模型参数优化

Keywords

Parallel structureKinematics modelDynamic responseControl modelParameters optimization

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