The 316, 3 platform-type parallel machine tool interferometer calculates the condition that the shaft motor does not interfere, and the conditions under which the two common hinges do not interfere.
The structure of 1 lead 1 parallel machine is quite different from that of traditional machine tool. The movement of key components is not as regular as that of traditional machine tools. In the process of parallel machine tool, the interference of components may be much larger than that of traditional machine tools. The number of components is also relatively large. In this process, the calculation and verification of the thousands of components in the overall design of the parallel machine tool is very important.
The paper analyzes the interference analysis of the parallel machine tool of the base type 36 type 81 platform. In the Type 36 platform, there are 6 hinges on the moving platform with 6 hinges. The telescopic movement of the connecting rod is realized by the driving nut. When the lead screw is shortened, part of the lead screw will protrude rearward. At this time, the protruding portion of the lead screw may interfere; when the position of the moving platform changes, the between the static and dynamic platforms Both the connecting rod connecting rod and the motor may have a hinged wooden body on the platform. There are 1 can exceed the limit position and then it is concluded that the interference between the two types of interference links may occur in the structure, the interference between the connecting rod and the spindle motor; 2 the hinge interference on the static and dynamic platform.
The first type of dry; the step is actually the two cylinders of space, the key to solving the problem is to calculate the shortest deviation between the two lines of space; the first type of interference is like a structure. According to the hinge text, we will first discuss the method of finding the distance between the two interlaced line segments, and the condition that the two cylinders do not interfere with each other. Secondly, because of the coupling pair of the parallel machine tool, the rotating pair and the spherical pair are used. In the calculation, juice calculation at various angles is necessary. and so. The angle calculation of the 36-type parallel machine tool and the non-interference condition of the two connection pairs are given.
2 The shortest distance of the interlaced line segment + the relative position of the two line segments in the space is not the same as the shortest distance. 1 lists the relative positions of the two line segments, where the 2 axes of the coordinate system are two The trajectory planning of the line segment can and 2. The simulation results show that the arm can be assembled smoothly with the arms under the derived constraint relationship.
1霄å”å¿å¿æ›¼'s two-arm shaft assembly is a very complicated task. This article only discusses the relationship between the two-axis shaft hole assembly from the kinematics point of view. A complicated and meticulous work, this will be 1 our nude group in the future research, Zhongli, Cheng.
i Yuan Jun, Huang Xinhan. Chen Jinjiang. Robot assembly operation control technology 1. Robot, i994lfiD56M.
21 Zhang Yi, the business is called the big, and the ten-person machine assembly is used for modeling and assembly path optimization methods. robot. 199203207213.
E just got. Wu Guangshun, Zhang Chuanying. The artificial neural network of the robot's active assembly work is supported by the National Natural Science Foundation of the Fund Project 59875004; the Beijing Aerospace University 2 project funded project is a vertical line. The situation of the sub-tickets is explained separately. The situation of t is as follows: 1. The difficulty of the main vertical line of the two line segments of the space is the length of the vertical line. The length of the vertical line is two line segments, and the small heel is separated from the situation. The extension line of the online segment of the line of the vertical line is discussed in three cases at this time. It does not mean that 1. In the middle, the line of 4 to 60 is perpendicular to the line, and the line is called the run-off between the lines. should be! Point to, the distance; in the case, the point to 2, the vertical line is beyond the point, the shortest distance between the two lines is also; in the case of 14 points, the vertical line of the point is more than 7 points , the most Cambodian distance between the two segments is.
Case 3: The vertical line of the two line segments of the space is not above the line segment, and the shortest distance between the two line segments is the line connecting the two end points of the foot.
Through the plane of 5 and parallel to the plane, the equation of 0 or its extension on the extension line is the intersection of 〃2 and 7, which is because of the sum of 2! Orthogonal, and satisfies the formula 3, so the length of the male and female dysfunction line is 1 can be recorded, and the distance between a certain two end points is the distance from the point 0 to 0 at the water point 0. Example 3: Spatially interlaced cylinders without interference conditions According to the above theory, the algorithm for solving the shortest distance between two line segments is as follows. According to the space two-segment people 8,0, find the male vertical line and its foot, if both feet are online On the segment, the length of the male vertical line is the shortest distance between the two line segments.
If a foot is on the upper line segment, the end point of the line segment on the line segment is close to the end point that is difficult to reach, and the vertical line of the four line segments is used, for example, the foot line of the vertical line is in the line segment. Then the shortest distance between the two segments is the distance from the endpoint to the other segment, otherwise it is the endpoint to the other segment. The length of the line from the near end of the foot is the shortest distance between the two lines if the two feet are outside the line segment, which is the length of the line between the two line segments near the end of the foot.
The length of one of the two vertical lines of the Ning and the vertical foot = the unit direction vector of 80 are respectively 1 and the heart. The equation for the line segment 1;0 used for the request is as shown in the above analysis. The shortest distance between the two interlaced line segments in the space ultimately comes down to the distance between two points on the line segment. The angle between the two points of the axis of the two-section cylinder of the space and the axis of the two cylinders is that the condition that the two cylinders do not interfere with each other is that the condition is not from the cylindrical surface but from the cylindrical end surface. It's a bit loose, but for design, it tends to be safe. The angle of the 4th angle is calculated. The normal of the plane is the angle calculation. It is mainly for the design of the hinge and the interferometric inspection service school. Equation 53, the platform and its coordinate system 3, each of the two links and the sides on the static platform form an angular shape, taking the angle formed by the connecting rod 12 as the research object, the unit of the 31.5, = 2, 6 generation first pole The angle between the vector link 1 and the connecting rod 2 can be 4 to 5 hinged non-interference conditions in the Xulian machine tool. Generally, the spherical pair or the child's rotating pair is in the 4 madness, which is the angle between the axes of the two rotating members. The mountain office is the half corresponding to the width of the hinge, and the moxibustion is the separation from the center of rotation to the interference point. The component + interference component is a 6-interference test procedure. According to the above analysis, the interference check can be performed by knowing the direction vector of each link and the related structural parameters. Use the inverse solution formula of the parallel machine tool. The direction of the connecting rod can be easily obtained. Given the attitude and motion trajectory of the moving platform, you can press the process to enter the hall interference test, the mountain as the net 3 speed vertical coordinate system. In the coordinate system, the vector is used to calculate the vector of each link according to the given dynamic platform position and attitude.
An algorithm based on calculating the shortest distance between two segments of a space. Solve the shortest distance between the axis segment of the adjacent two links and the axis of the spindle motor of the connecting rod 4.
According to the non-interference condition of the space interlaced cylinder, judge whether the elements calculated in 3 interfere with each other. If interference, record and print the interference information, and then perform the next step; otherwise, directly execute the next step.
5 report the formula of the angle of the juice calculation, solve the key angle, 6 judge whether the hinge interferes by the non-interference condition of the hinge, if interference, record and print the interference information, then return to the second step, otherwise go directly back to the second step, Carry out the test of the next pose.
Based on the structural design of the parallel machine tool, the paper analyzes the possible interference of the parallel machine tool based on the 36-type 31 platform, and gives the calculation method of the shortest distance between the connecting rod and the connecting rod connecting rod and the spindle motor of the parallel machine tool. And the conditions of no interference, in addition to the calculation formula of the angle of the hinge in the parallel mechanism and the two common hinges, the design of the hinge for the overall structure of the parallel machine tool and the interference test in the motion simulation of the parallel machine tool Detailed calculation methods are provided.
In the angle calculation part, only a simple situation is given in the paper. The interference calculation of the degree of freedom hinge unit composed of a rotating pair is relatively complicated, and the more accurate and comprehensive calculation method will be explained in the following article.
In the middle of the tie, the radius of the rod is the half of the ball. The depth of the ball is the depth of the installation of the spherical surface. The angle of the hinge is the half angle of the top of the cone. The condition of the hinge + thousand is the introduction group of the space analysis geometry of the Department of Mathematics of Nankai University. Introduction to Spatial Analytic Geometry 4. Beijing People's Education Press, 1978.
Chen. Development of virtual axis drill sharpening machine 5. Report of postdoctoral research work of Beijing University of Aeronautics and Astronautics. Beijing Beihang University, 19.
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