基于UG的轉(zhuǎn)向機(jī)零件清洗器注塑模具設(shè)計(jì)【一模兩腔】【說明書+CAD+UG】

基于UG的轉(zhuǎn)向機(jī)零件清洗器注塑模具設(shè)計(jì)【一模兩腔】【說明書+CAD+UG】,一模兩腔,說明書+CAD+UG,基于UG的轉(zhuǎn)向機(jī)零件清洗器注塑模具設(shè)計(jì)【一模兩腔】【說明書+CAD+UG】,基于,ug,轉(zhuǎn)向,零件,清洗,注塑,模具設(shè)計(jì),說明書,仿單,cad 年級(jí) 專業(yè) 學(xué)號(hào) 姓名 Con.guration analysis of .ve-axis machine tools using a generic kinematic model Abstract：Five-axis machine tools are designed in a large variety of kinematic con.gurations and structures. Regardless of the type of the intended analysis, a kinematic model of the machine tool has to be developed in order to determine the translational and rotational joint movements required to achieve a speci.ed position and orientation of the cutting tool relative to the workpiece. A generic and uni.ed model is developed in this study as a viable alternative to the particular solutions that are only applicable to individual machine con.gurations. This versatile model is then used to verify the feasibility of the two rotational joints within the kinematic chain of three main types of .ve-axis machine tools: the spindle rotating, rotary table, and hybrid type. A numerical measure of total translational joint movement is proposed to evaluate the kinematic performance of a .ve-axis machine tool. The corresponding kinematic analyses have con.rmed the advantages of the popular machine design that employs intersecting rotational axes and the common industrial practice during setup that minimizes the characteristic rotating arm length of the cutting tool and/or workpiece. # 2004 Elsevier Ltd. All rights reserved. 【Keywords】Con.guration analysis; Kinematic model; Machine design; Machine setup; Five-axis machine tool Introduction： Five-axis machining o.ers de.nite advantages over the more common three-axis machining process. Fiveaxis machine tools are often quoted for their increased productivity, accuracy and .exibility in contrast to the three-axis ones [1,2]. Notable e.orts have been taking place in recent years to overcome some of the inherent drawbacks of .ve-axis machines like more complex programming and post-processing, greater possibility of gouging and collision during cutting, and higher machine costs. Despite these known shortcomings, more and more of these machines are being used in practice. The balance between positioning-only and continuous .ve-axis machining work has become more equilibrated lately than it was a few years ago [3]. Most research studies on .ve-axis machining have commonly identi.ed the need to develop a model to analyze the kinematic structure of the machine. There are several approaches proposed for this purpose, with some of them transferred from robotics research. One such approach, which is well known and extensively used, was introduced by Denavit and Hartenberg [4] and later modi.ed by Paul [5]. The concept of form shaping functions was also proposed for machine tool kinematic analyses [6]. Some research studies only contained limited development on this subject, as their focuses were more on other aspects of .ve-axis machining. Suh and Lee [7] used the Denavit–Hartenberg representation to develop a versatile path planning method by which .ve-axis machining can be done by a three-axis machine and rotary table combination. Similar applications have resulted in an adaptive algorithm for tool path optimization [8] and a combined 3D linear and circular interpolation technique for the .ve-axis machining of complex surfaces [9]. The machining accuracy is a resultant of both internal and external factors acting on the cutting process. Evidently, the accuracy of the whole kinematic chain will have a direct in.uence on the overall machining precision. As a result, a number of studies attempted to establish relationships between the inaccuracy in the components of the kinematic chain and the resulting position and orientation error of the cutting tool. One of the early studies in this area was reported by Kiridena and Ferreira [10]. They suggested a method to outline the e.ects of positioning errors of machine axes on the cutting tool position and orientation in its workspace. Later, Mahbubur et al. [11] showed that the perpendicularity between the rotational axes of a .ve-axis machine signi.cantly a.ected the positioning error at the tool tip. Bohez [12] proposed a new general approach to compensate for systematic errors in a horizontal .ve-axis machine based on the closed loop volumetric error relations. The common point of almost all of the above-mentioned studies is the fact that a kinematic model of the machine is essential, as the position and orientation of the cutting tool, represented by the cutter location (CL) data and the tool axis vector, have to be converted into machine control coordinates (MCC) for inputting to the CNC machine controller. This conversion is commonly referred to as post-processing. Post-processing for .ve-axis machining is more complex than that for three-axis machining and many parameters require attention when a full portable post-processor is desired [13]. One of the .rst attempts in post-processor development for .ve-axis machining belonged to Takeuchi and Watanabe [14]. Lee and She [15] developed individual post-processors for three main types of .ve-axis machines. A post-processing algorithm able to correct erroneous operations for a particular con.guration of the machine tool was proposed by Jung et al. [16]. The concept of form shaping functions was used by Cheng and She [17] to develop forward and reverse postprocessors. 利用一般的運(yùn)動(dòng)學(xué)模式對(duì)五軸機(jī)床的結(jié)構(gòu)進(jìn)行分析 摘要:五軸機(jī)床的設(shè)計(jì)常用于許多種類的運(yùn)動(dòng)學(xué)配置和結(jié)構(gòu)中。先不管將要分析的這種類型，為了確定實(shí)現(xiàn)切削刀具相對(duì)工件的的具體位置和方向所必須的平移和旋轉(zhuǎn)合成運(yùn)動(dòng)，一種機(jī)床的運(yùn)動(dòng)學(xué)模型將得到闡述。在本次研究中，一種通用和統(tǒng)一的模型作為可變選擇的特殊的僅運(yùn)用于單獨(dú)機(jī)器配置的解決方案將得到闡述。這種通用的模型可用于檢驗(yàn)兩旋轉(zhuǎn)連接件在三種主要的五軸機(jī)床運(yùn)動(dòng)鏈中的可行性：旋轉(zhuǎn)軸，旋轉(zhuǎn)工作臺(tái)以及混合類型。一種完整的平移合成運(yùn)動(dòng)數(shù)字測(cè)量已經(jīng)提出用于估計(jì)五軸機(jī)床的運(yùn)動(dòng)性能。相對(duì)應(yīng)的運(yùn)動(dòng)分析已經(jīng)證實(shí)了利用交叉旋轉(zhuǎn)軸和在設(shè)置中最小化典型的切削刀具和工件旋轉(zhuǎn)臂長(zhǎng)度共同的工業(yè)實(shí)踐的普及的機(jī)械設(shè)計(jì)的效益。 緒論： 五軸加工相對(duì)更普遍的三軸加工來說提供有限的優(yōu)點(diǎn)，五軸機(jī)床由于它相對(duì)三軸機(jī)床有不斷上升的生產(chǎn)效率、準(zhǔn)確性、靈活性而得到利用。為了克服五軸機(jī)床存在一些潛在缺點(diǎn)，如復(fù)雜的編程以及后處理，在切削過程中更大的刨銷和沖突的可能性，以及更高的加工費(fèi)用，已經(jīng)付出了很大的努力。盡管這些已知的缺點(diǎn)，但是在實(shí)際生產(chǎn)過程中越來越多的這種機(jī)床得到廣泛的運(yùn)用。目前平衡的定位以及連續(xù)五軸加工之間的平衡已經(jīng)比以前變得更加相稱[3].。 大多數(shù)對(duì)五軸加工的研究已普遍認(rèn)識(shí)到建立一個(gè)模型來分析機(jī)器運(yùn)動(dòng)學(xué)結(jié)構(gòu)的必要性。為此可以提出幾種方法，其中一些方法是從機(jī)器人研究中轉(zhuǎn)移過來的。有這樣一種方法是眾所周知和廣泛使用的，它是由Denavit和Hartenberg 引進(jìn)的[4]，并且后來由保羅修改[5]而成的。這種成型功能的概念也是為機(jī)床運(yùn)動(dòng)學(xué)分析而提出的。有些研究只包含這個(gè)主題的有限發(fā)展,正如它們更加關(guān)注五軸加工的其它方面。Suh和Lee [7]利用Denavithartenberg表達(dá)方法來闡述一個(gè)通用的路徑規(guī)劃方法，通過這種方法，五軸加工能夠通過三軸加工和轉(zhuǎn)盤的組合來實(shí)現(xiàn)。 類似的應(yīng)用可為復(fù)雜表面的五軸加工產(chǎn)生自適應(yīng)刀具軌跡優(yōu)化[8]并結(jié)合三維直線和圓弧插補(bǔ)技術(shù)。 加工精度是作用在切削過程中內(nèi)部和外部因素共同作用的結(jié)果。由此可見,整個(gè)運(yùn)動(dòng)鏈的精度都將對(duì)整體加工精度有直接的影響。因此， 多項(xiàng)研究試圖在運(yùn)動(dòng)鏈構(gòu)件的誤差及由此產(chǎn)生的方向和位置誤差之間建立關(guān)系。在這個(gè)領(lǐng)域的研究最早由kiridena和費(fèi)雷拉[10]報(bào)道。 他們提議一種概述機(jī)床主軸定位誤差對(duì)刀具在工件上的位置以及方向影響的方法。后來,mahbuburetal〔11〕表明五軸機(jī)床相互垂直的轉(zhuǎn)軸對(duì)刀尖的定位誤差有很大的影響，bohez[12]提出了一種新的常規(guī)的做法以補(bǔ)償基于閉環(huán)容積誤差的關(guān)系橫向五軸機(jī)床的系統(tǒng)誤差。 幾乎上述的所有研究都有這樣一個(gè)共同點(diǎn)：機(jī)器的運(yùn)動(dòng)學(xué)模型是至關(guān)重要的，刀具的方向和位置是通過切刀位置(CL)的數(shù)據(jù)和刀具軸矢量來表示的， 必須轉(zhuǎn)換成機(jī)器控制座標(biāo)(mcc)輸入到數(shù)控機(jī)床控制器。 這種轉(zhuǎn)換是通常所說的后處理。五軸加工的后處理比三軸加工的后處理更加復(fù)雜及當(dāng)需要一個(gè)完全便攜式后處理器時(shí)多種參數(shù)需要注意。五軸機(jī)床后處理器開發(fā)其中的一個(gè)嘗試屬于Takeuchi和 Watanabe [14]。Lee 和 She [15] 為三大類五軸機(jī)床開發(fā)了個(gè)別后處理器。 由Jung et al. [16]提出的后處理算法能為特別配置的機(jī)床糾正錯(cuò)誤的操作。Cheng和She使用成型功能的概念去開發(fā)前向和反向后處理器。然而，這些研究的問題沒有一個(gè)能夠闡述一種通用和統(tǒng)一的應(yīng)用于五軸機(jī)床結(jié)構(gòu)的運(yùn)動(dòng)學(xué)模型。后處理器實(shí)際上是帶有五軸功能的商業(yè)計(jì)算機(jī)輔助制造軟件的必須單元。在主要的軟件系統(tǒng)之間的差異是由裴etal合成的[18]。雖然這些商業(yè)產(chǎn)品中有些可能包括一種通用的機(jī)器運(yùn)動(dòng)學(xué)模型這種情況是可能的,但是沒有現(xiàn)有相關(guān)文獻(xiàn)資料提交正式回應(yīng). 除了先前提到的誤差分析和后處理，另一種五軸機(jī)床通用運(yùn)動(dòng)學(xué)模型的應(yīng)用是與一種滿足加工中特別要求的最優(yōu)機(jī)器配置的設(shè)計(jì)相聯(lián)系的。許多關(guān)于這個(gè)話題的參考文獻(xiàn)從產(chǎn)業(yè)上[2，3，19]和理論上的觀點(diǎn)上看都存在于相關(guān)的文獻(xiàn)資料中。這些設(shè)計(jì)應(yīng)用是非常重要的，因?yàn)檎缋钏豦tal. 〔20〕提出的，盡管機(jī)器有一些相似的五軸控制，但是并不是所有的五軸部件都能在一個(gè)特定的機(jī)器上加工。在五軸機(jī)床運(yùn)動(dòng)鏈設(shè)計(jì)的一個(gè)研究中，Bohez為這些機(jī)器提出了全面的分類主題。從理念上說，從運(yùn)動(dòng)學(xué)觀點(diǎn)的角度來看，五軸機(jī)床與有五個(gè)自由度的機(jī)器人是等價(jià)的，按照這條路線的想法，五軸機(jī)器能夠通過任意放置運(yùn)動(dòng)鏈.中的六個(gè)環(huán)節(jié)中的五個(gè)平移和旋轉(zhuǎn)接頭來建立。在實(shí)踐中，幾乎所有的五軸機(jī)床都有三個(gè)平移和兩個(gè)轉(zhuǎn)動(dòng)關(guān)節(jié)[21]。這最可能歸因于這樣一個(gè)事實(shí)：這個(gè)組合滿足的最佳的幾何和運(yùn)動(dòng)的限制。. 最早的但仍然廣泛采用的一種對(duì)五軸機(jī)床配置的分類標(biāo)準(zhǔn)是基于運(yùn)動(dòng)鏈中兩個(gè)旋轉(zhuǎn)關(guān)節(jié)的位置。 兩個(gè)旋轉(zhuǎn)關(guān)節(jié)可以同時(shí)適用于主軸和機(jī)器的工作臺(tái)，或者一個(gè)用于主軸，一個(gè)用于工作臺(tái)。Ishizawa et al.[22]是最先概括三種基本類型的機(jī)器的結(jié)構(gòu)性差異的研究者中的一員。其中，其他研究者[10,11,14-17,20,21]隨后使用相同的標(biāo)準(zhǔn)，突出了這三個(gè)機(jī)器類型的鮮明的行為特征。業(yè)內(nèi)人士還研究了適合每臺(tái)機(jī)器類型的應(yīng)用[2,3,19]。Warkentin et al.提出了一種逆向和正向運(yùn)動(dòng)學(xué)分析的系統(tǒng)性的方法，它是關(guān)于這三種主要類型的五軸機(jī)床的方法[23]。五軸機(jī)床可能的運(yùn)動(dòng)學(xué)配置的最大數(shù)量與許多研究者所報(bào)道的不一致[22,24,25]。三種基本機(jī)器配置的績(jī)效評(píng)估方法被提議為加工一個(gè)正方形的工件的最大的線性運(yùn)動(dòng)區(qū)域[24，25]，相似的結(jié)果已經(jīng)有報(bào)道。 很顯然,通用五軸機(jī)床運(yùn)動(dòng)學(xué)模型對(duì)后處理、設(shè)計(jì)、系統(tǒng)化和加工誤差分析來說將比包含每臺(tái)機(jī)器配置所設(shè)定的CL數(shù)據(jù)和MCC的換算關(guān)系的特殊解決方案更為有效。這個(gè)通用模型和選定的應(yīng)用機(jī)械設(shè)計(jì)工作將在以下幾節(jié)闡述。 - 6 -