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首页> 外文会议>International Symposium on Digital Manufacture; 20061015-17; Wuhan(CN) >Kinematic Modelling and Control Simulation for IPS + 3TPS Type Hybrid Machine Tool
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Kinematic Modelling and Control Simulation for IPS + 3TPS Type Hybrid Machine Tool

机译：IPS + 3TPS型混合动力机床的运动学建模和控制仿真

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摘要

A structure scheme for a novel hybrid machine tool (HMT) is proposed in this paper. In the scheme, a 4-DOFs IPS + 3TPS type spatial hybrid mechanism is utilized as main feed mechanism , with assistance of a two direction movable work-table , multi-coordinates JVC machining can be realized. In the main feed mechanism , fixed platform is connected with moving platform by three TPS driving links and one PS driving link , one translation DOF and three rotation DOFs can be achieved by it. This type HMT enjoys some advantages over its conventional counterparts : large workspace, good dexterity, etc. Closed form inverse displacement analysis model and inverse kinematic model for main feed mechanism are established. A fuzzy PID control scheme for machining control of HMTs with high tracking precision is proposed aiming at highly nonlinear, tightly coupled and uncertain characteristic of HMTs. Simulation researches for fuzzy PID control of HMTs are carried out. Simulation Results demonstrate the effectiveness and the Robostness of the fuzzy PID controller.
机译：提出了一种新型的混合动力机床（HMT）的结构方案。该方案采用4-DOFs IPS + 3TPS型空间混合机构作为主进给机构，借助双向可移动工作台，可实现多坐标JVC加工。在主进给机构中，固定平台通过三个TPS传动连杆和一个PS传动连杆与移动平台相连，由此可实现一个平移自由度和三个旋转自由度。这种HMT与传统的HMT相比具有一些优势：工作空间大，灵活性好等。建立了主进给机构的闭合形式逆位移分析模型和逆运动学模型。针对HMT的高度非线性，紧密耦合和不确定性特点，提出了一种跟踪精度较高的HMT加工控制的模糊PID控制方案。对HMT的模糊PID控制进行了仿真研究。仿真结果表明了模糊PID控制器的有效性和鲁棒性。

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