Position and Orientation Workspace Atlas of a 6-UPS Parallel Machine Tool

Abstract

Abstract:

To estimate the manufacturing ability of a 6-UPS cross links parallel machine tool BJ-04-02(A),workspace calculation was completed using numerical method,and corresponding atlas were pictured.Considering constrains of link length,revolving angle and interference,translational position space of
cutter-platform was calculated under conditions that axes of motional coordinate system and inertial frame always were parallel respectively.Contour graphs of some discrete layers were
extracted and maximal inscribed sphere,cylinder and block were calculated for above position space.
The concept of orientation ability angle was redefined.For each point in above position
space,orientation ability angle was calculated.The workspaces corresponding to different orientation ability angles were provided.The calculation results show that:when orientation ability angle is 20°, the volume ratio of workspace to machine tool for BJ-04-02(A) is approximately one twenty-fifth of Mikron five axis machine tool UCP800.

Key words: parallel mechanism, parallel machine tool, workspace, orientation workspace

摘要：

为确定6-UPS交叉杆式并联机床BJ-04-02(A)的加工能力,利用数值方法进行了工作空间计算,绘制了相应的图谱。考虑驱动杆长度、转动副转角、交叉杆间干涉三种约束条件，计算了刀具平台在参考姿态下的平动位置空间。绘制了该空间的边界图谱，给出了该空间的最大包容球、最大包容圆柱及最大包容长方体。重新定义并计算了该空间内每一点处的姿态能力角,给出了不同姿态能力角对应的工作空间。结果
表明：刀轴偏摆20°状态下,该机床工作空间与机床体积之比约为Mikron五轴机床UCP800的1/25。

关键词: 并联机构, 并联机床, 工作空间, 姿态空间

CLC Number:

TP242
TP391

CHEN Xiao-Gang-1, 2, SUN Yu-1, LIU Yuan-Wei-2, TUN Hai-Bing-2. Position and Orientation Workspace Atlas of a 6-UPS Parallel Machine Tool[J]. China Mechanical Engineering, 2013, 24(10): 1331-1335,1339.

陈小岗1, 2, 孙宇1, 刘远伟2, 吴海兵2. 6-UPS并联机床位姿空间图谱[J]. 中国机械工程, 2013, 24(10): 1331-1335,1339.

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