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I 摘 要 隨著信息技術(shù)的進(jìn)步和全球化制造技術(shù)的進(jìn)步，企業(yè)為了提高自身的競爭力，要求配 置效率更高成本更低的加工設(shè)備，而傳統(tǒng)機(jī)床在未來的加工業(yè)中會遇到難以克服的困難， 例如在高速加工中（軌跡速度達(dá)到 50m/min）和高效空間曲面加工及機(jī)床的通用性方面將 無法滿足現(xiàn)代加工技術(shù)的要求。因此探索和研究一種現(xiàn)代化機(jī)床具有十分重要的意義。 虛擬軸機(jī)床與傳統(tǒng)的串聯(lián)式數(shù)控機(jī)床相比具有很多優(yōu)越性。傳統(tǒng)數(shù)控機(jī)床各自由度是 串聯(lián)相接的，呈懸臂結(jié)構(gòu)，且層疊嵌套致使傳動(dòng)鏈長，傳動(dòng)系統(tǒng)復(fù)雜，累計(jì)誤差大，而精 度低，成本昂貴，至今多數(shù)機(jī)床只是 4 軸聯(lián)動(dòng)，極少 5 軸。而虛擬軸機(jī)床的并聯(lián)式加工中 心結(jié)構(gòu)特別簡單，傳動(dòng)鏈極短，剛度大、質(zhì)量輕、切削效率高、響應(yīng)快，特別是很容易實(shí) 現(xiàn)六軸聯(lián)動(dòng)，因而，能加工更復(fù)雜的三維曲面，且其加工精度和加工粗糙度都直接由控制 程序來保證，因此，硬件成本低，而軟件附加值高，是一種技術(shù)附加值極高的機(jī)電一體化 產(chǎn)品。 此研究課題針對現(xiàn)今的機(jī)加工趨向，制定了設(shè)計(jì)一部并聯(lián)機(jī)床實(shí)驗(yàn)臺的任務(wù)，作者與 合作人共同設(shè)計(jì)。其中的并聯(lián)部分分配給了合作者，作者主要負(fù)責(zé)并聯(lián)機(jī)床實(shí)驗(yàn)臺的總體 框架結(jié)構(gòu)設(shè)計(jì)。 平臺大致由并聯(lián)機(jī)構(gòu)——三根并聯(lián)絲杠（驅(qū)動(dòng)電機(jī)） 、鑄鐵機(jī)架、裝卡平臺和電主軸以 及彈簧銑夾頭組成。 關(guān)鍵詞：并聯(lián)機(jī)構(gòu)、虛軸加工、雅可比矩陣、正解算法 II Abstract With the progress of the information technology and the development of the global manufacturing techniques, enterprises require more efficient and lower cost machines by reason of enhancing their competitive ability. But conventional machine tools will encounter many difficulties which are hard to overcome in the future, for instance of high-speed machining ( path speed exceeding 50m/min)and high efficient space curved surfacing machining as well as flexibility of machines. Thus, it is very important to explore and study kind of modern machines. Be compared to the normal numerical control machine tool, it has larger rigidity, stronger carrying capacity, smaller error, higher precision, smaller ratio of self-weight and load, better dynamical capacity, less investment of hardware, but stronger function of software. All of these show its high additional technical valve. This research topic for the current trend of the processing machine, developed a design of a parallel machine test-bed task, which the Author co-design and a partner. Some of them parallel to the allocation of the partner, the author mainly responsible for the PMT test-bed framework of the overall structural design. Platform from roughly parallel bodies - three parallel screw (motor driven), cast iron rack, with card platform and Spindle and milling chucks of spring. Key words: parallel instruction, virtual axis processing, Jacobian Matrix, positive solution algorithm III 目 錄 第 1 章 緒論 ........................................................................................................................................1 1.1 課題背景與意義 ..................................................1 1.2 并聯(lián)機(jī)床發(fā)展歷史及現(xiàn)狀 ...........................................2 1.3 本文主要研究內(nèi)容 .................................................5 第 2 章 重要零部件選型 ................................................................................................................6 2.1 依照主軸功率確定電主軸型號 ........................................6 2.2 選擇主軸下部刀具夾頭 .............................................7 2.3 選擇工件的裝卡方式 ...............................................8 第 3 章 實(shí)驗(yàn)臺支承部分及其連接的方案 .............................................................................11 3.1 機(jī)架的設(shè)計(jì)方案 ..................................................11 3.2 鑄造機(jī)架的材料及熱處理 ...........................................14 3.3 機(jī)架的截面形狀、壁厚及周邊筋的布置 ................................14 3.4 立柱與底座的連接方式 ............................................16 3.5 底座的造型 .....................................................16 第 4 章 實(shí)驗(yàn)臺驅(qū)動(dòng)電路 ..............................................................................................................17 4.1 電路布線方案 ...................................................17 4.2 電路控制要求 ...................................................17 4.3 電路控制連線原理圖 ..............................................17 第 5 章 實(shí)驗(yàn)結(jié)果及三維建模 .....................................................................................................18 5.1 設(shè)計(jì)并聯(lián)實(shí)驗(yàn)臺結(jié)果 ..............................................18 5.2 實(shí)驗(yàn)臺 SOLIDWORKS 建模 .............................................18 第 6 章總結(jié)與展望 ..........................................................................................................................19 參考文獻(xiàn) .............................................................................................................................................20 致 謝 ..................................................................................................................................................20