并聯(lián)機(jī)床數(shù)控系統(tǒng)運(yùn)動(dòng)學(xué)變換及相關(guān)算法的研究與實(shí)現(xiàn).pdf

1、中國科學(xué)院沈陽計(jì)算技術(shù)研究所碩士學(xué)位論文并聯(lián)機(jī)床數(shù)控系統(tǒng)運(yùn)動(dòng)學(xué)變換及相關(guān)算法的研究與實(shí)現(xiàn)姓名：黃軍申請學(xué)位級別：碩士專業(yè)：計(jì)算機(jī)應(yīng)用技術(shù)指導(dǎo)教師：夏筱筠楊東升20060520并聯(lián)機(jī)床數(shù)控系統(tǒng)運(yùn)動(dòng)學(xué)變換及相關(guān)算法的研究與實(shí)現(xiàn)ABSTRACTStudyonKinematicsTransformandCorrelativeArithmeticinNumericalControlSystemofParallelMachineToolHuangJ

2、un(ComputerApplicationTechnology)DirectedbyProfessorXiaXiaojunandYangDongshengBasedonthestudyofnumericalcontrolsystemof3’IPSparallelmachinetool，thepaperstudiesandanalyseskinematicstransformandcorrelativearithmeticwhichis

3、apeculiarmoddeinparallelmachinetool‘Snumericalcontrolsystem硒estudyisappliedforemotioncontrollerdesigninparallelnumericalcontrolsystemFortraditionalmachinetool。knifemotioncontrailiSalinearcombinationofthecontrolaxisinCart

4、esianspace；butfortheparallelone，itisanon—linearmapoftheservoaxismovememiniointspacemknifekinematicsinformationneedstobetransformedfromCartesianspacetotheservoaxisviainversekinematicsalgorithmMeanwhile，thedetectedjointapa

5、cecoordinatesneedtobetransformedtoCartesianspace、析mforwardkinematicsalgorithm刃epapermainlystudiesthefollowingfourpartsFirstlyitanalysesthecharacterof3TPSparallelmachineandconstitutesitskinematicsmathematicsmodde，andraise

6、skinematicsforwardandinversearithmeticequationSecondlythekinematicsarithmeticiscarriedoutseparatelyinthreemachiningstylesconcretelyThepaperanalysesproblemsexistinginfive—coordinatest)，leparticularlyTheCartesianvalueareai

7、sascertainedThirdlythepaperanalysesthevelocityandaccelerationrelationbetweenknifecontrolpointandendpointinordertestrictmaximunavelocityandaccelerationofcontrolpoint，andbringsforwardthevelocityequationbetweentheknifeaxesa

8、ndparallelmachinen圮lastthetesthardw盯eandsolrareconfigurationareintroduced，andkinematicstransformfunctionmoduleisprogrammedwinlClanguageTheyaretestedinthesimulativeplatformtotestifythekinematicstransformarithmeticcapabili