混联虚拟轴研抛机床的多柔体动力学研究

为了在自由曲面的弹性研抛中 ,获得稳定的动力学特性和加工效果 ,开发了一种由“3轴并联 + 2轴串联”构成的新型 5自由度混联虚拟轴研抛机床。采用柔性多体系统动力学方法 ,建立了基于Lagrange方程的空间刚 柔耦合动力学模型 ;考虑研抛机床整体的刚性运动与各支链弹性变形间的相互作用及耦合 ,将机床的各个支链和平台看作独立子结构 ,建立各自的动力学方程 ,根据子结构之间的约束关系建立了系统约束动力学方程 ;通过动力学仿真分析 ,获得了较稳定的动力学特性

Study on Dynamics of Rigid-Flexible Coupling for Hybrid Virtual Axis Polishing Machine Tool

In order to obtain stable dynamics and good polishing in flexible polishing of free form surfaces, we developed a new kind of five degree hybrid virtual axis polishing machine tool which is made up of "3 parallel axes + 2 serial axes". First, a dynamics model of space rigid flexible coupling multibody systems based on Lagrange equation is established. Dynamic equations of each part are derived by considering the rigid movement of whole virtual axis polishing machine tool and elastic deformation of each branch, and treating each branch and platform as independent sub structure. According to the constraints among sub structures, the constraint dynamic equations of the system are obtained. Finally, dynamic simulation show that this virtual axis polishing machine tool possesses more stable dynamic character.