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外文翻译--关于新型并联雕刻机的研究及其关键技术【优秀】.doc

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外文翻译--关于新型并联雕刻机的研究及其关键技术【优秀】.doc

英文原文ResearchonaNovelParallelEngravingMachineanditsKeyTechnologiesAbstractInordertocompensatethedisadvantagesofconventionalengravingmachineandexerttheadvantagesofparallelmechanism,anovelparallelengravingmachineispresentedandsomekeytechnologiesarestudiedinthispaper.Mechanismperformancesareanalyzedintermsofthefirstandthesecondorderinfluencecoefficientmatrixfirstly.Sothesizesofmechanism,whicharebetterforalltheperformanceindicesofbothkinematicsanddynamics,canbeconfirmedandtherestrictionduetoconsideringonlythefirstorderinfluencecoefficientmatrixinthepastisbrokenthrough.Therefore,thetheorybasisfordesigningthemechanismsizeofnovelengravingmachinewithbetterperformancesisprovided.Inaddition,methodfortoolpathplanningandcontroltechnologyforengravingforceisalsostudiedinthepaper.Theproposedalgorithmfortoolpathplanningoncurvedsurfacecanbeappliedtoarbitraryspacialcurvedsurfaceintheory,controltechnologyforengravingforcebasedonfuzzyneuralnetworkFNNhaswelladaptabilitytothechangingenvironment.ResearchonteleoperationforparallelengravingmachinebasedonB/Sarchitectureresolvesthekeyproblemssuchascontrolmode,sharingmechanismformultiuser,realtimecontrolforengravingjobandrealtimetransmissionforvideoinformation.Simulationresultsfurthershowthefeasibilityandvalidityoftheproposedmethods.Keywordsparallelmechanism,engravingmachine,influencecoefficient,performanceindices,toolpathplanning,forcecontrol,fuzzyneuralnetwork,teleoperation1IntroductionConventionalcomputerengravingmachinehasplayedanimportantroleinindustriessuchasmachinerymachining,printinganddyeingandentertainment,butithastheinherentdisadvantagessuchascuttingtoolcanbefedonlyalongthefixedguideway,lowerdegreeoffreedomDOFofcuttingtool,lowerflexibilityandmobilityformachiningetc.Parallelmechanismhasthemeritssuchashighmechanicalstiffness,highloadcapacity,highprecision,gooddynamicperformanceetcZhen,H.Lingfu,K.Yuefa,F.,1997.Accordingtothecharacteristicsofparallelmechanism,ithasbeenahotresearchtopictoapplyparallelmechanismtothedomainoffuturemachining.Byapplyingparallelmechanismtoengravingdomain,itsinherentadvantagescanbefullyexertedandthedisadvantagesofconventionalengravingmachinecanbeovercomeorcompensated.Butasthespecialstructureofparallelmechanism,therelatedtheoryandtechnologyduringitsengravingisverydifferentfromthatofconventionalengravingmachine,anditisaundevelopedresearchtopicbynow.Inaddition,withthedevelopmentofcomputernetworktechnology,thenewconceptandmethodsuchasnetworkmachiningandmanufacturinghasbecomehotresearchtopicGQ,HuangK.L,,Mak.,2001Taylor,K.Dalton,B.,2000Yingxue,Y.Yong,L.,1999.Anovelparallelengravingmachinewithsixaxislinkageisproposedinthispaper,whichusesthe6PUSparallelmechanismwith6DOFastheprototype,andsomekeytechnologiessuchassizedesign,toolpathplanning,engravingforcecontrolandteleoperationarestudiedonthisbasis.2.Confirmingofmechanismtypeandengravingmachinessize2.1SelectionofmechanismandcoordinatesystemTheselectionofmechanismtypeisthefirststepfordesigningnovelengravingmachine,thefollowingreasonsmakeusselectthe6PUSparallelmechanismfordesigningourengravingmachine.Comparingwithtraditionalmechanism,6PUSparallelmechanismusesbaseplatform,threeuprightslayoutandhighrigidityframeworkstructureandhasthemeritssuchashighmodularization,highaccuracyandlowcost.ItsmodelisshowninFig.1.Fig.1.Themodelof6PUSparallelmechanismAsshowninFig.1,6PUSparallelmechanismconsistsofbaseplatform,dynamicplatformand6branchchainswithsamestructure,everybranchjoinswithbaseplatformthroughprismaticpairsP,sliderofprismaticpairsjoinswithupendofthefixedlengthlinkthroughuniversaljointU,downendofthefixedlengthlinkjoinswithdynamicplatformthroughspherehingeS,soitiscalled6PUSparallelmechanism.Thecoordinatesystemof6PUSparallelengravingmechanismisshowninFig.2.InFig.2,thegeometrycentersofbaseplatformanddynamicplatformplanearesupposedasOBandoprespectively.Ineverybranch,thecentersofprismaticpairs,universaljointandspherehingearemarkedwithAi,Bi,,andCii1,2,...,6respectively.CoordinatesystemOBXBYBZBisfixedonbaseplatform,taking{B}asbriefly.Theoriginof{B}liesongeometrycenterofbaseplatformsupplane,axisZBisverticalwithbaseplatformanddirectstoup,axisYBdirectstoanglebisectorofthefirstandsecondbranchleadscrewcenterline,andaxisXBcanbedeterminedwithrighthandrule.Supposingthecoordinatesystemsetondynamicplatformisopxpypzp,taking{P}asbriefly,itsoriginliesongeometrycenterofdynamicplatform,theinitialstateofdynamicplatformsystemisconsistentwiththatofbaseplatformsystemcompletely.Supposingthecoordinateofopis0,0,Zin{B},thisconfigurationwithoutrelativerotationtoeveryaxisistheinitialconfigurationofthismechanism,andZchangingwithmechanismssize.Onthebasisofcoordinatesystemmentioned,weuseinfluencecoefficienttheoryandtheactualparametersofthismechanismtocalculatethefirstandthesecondorderinfluencecoefficientmatrixofeverybranchunderdifferentconfiguration.Then,wecangetthefirstandthesecondorderintegratedinfluencecoefficientmatrixHofthewholemechanism.和Thesignificanceanddetailedsolutionprocessforinfluencecoefficientmatrixisomittedhere,formoreinformationpleasereferZhen,H.Lingfu,K.Yuefa,F.,1997.Fig.2.Coordinatesystemof6PUSparallelengravingmechanism2.2MechanismperformanceanalysisbasedoninfluencecoefficientmatrixTheperformanceofengravingmachinewillchangewithitssize.Tofindoutthebettersizeforalltheperformanceindicesofbothkinematicsanddynamics,weobtainagroupofmechanismsbychangingitsparameters.ThesemechanismslengthoffixedlengthlinksLrangebetween45cmand55cmstepis1cm,radiusofdynamicplatformRrangebetween10cmand20cmStepis1cm.Otherparametersofthemechanismisunchanging,soweget121mechanismstotally.Takingthesemechanismsasresearchobject,weconfirmthesamplepointforeverymechanisminitsworkspacewithalgorithmPerformanceAnalysis,thencalculatethefirstandthesecondorderinfluencecoefficientmatrixineverypoint.Furthermore,calculatealltheperformanceindicesineverysamplepointanddrawalltheglobalperformanceatlasof121mechanismsultimately.Todescribeconveniently,weabbreviatethefirstandthesecondorderintegratedinfluencecoefficientmatrixHqtoGandH,anduseGω,HωandGυ,Hυastheangularvelocitysubmatrixandlinearvelocitysubmatrixofthefirstandthesecondorderintegratedinfluencecoefficientmatrixrespectively,namely,WecanchangemechanismsparametersandadjustvariablesstepinthealgorithmPerformanceAnalysistomeetactualanalysis.ThealgorithmisprogrammedwithMATLABandtheglobalperformanceatlasof6PUSmechanismaredrawnseeFig.3toFig.8,thenthemechanismsperformanceisanalyzedusingtheatlas.Table1showstheresultsofsamplepointnumberabbr.toSPNfor121mechanismsrespectively,thefixedlinklengthofmechanismwithsequencenumberabbr.toSN1is45cm,itsradiusofdynamicplatformis10cm,thefixedlinklengthofmechanismwithSN121is55cm,itsradiumofdynamicplatformis20cm,therestmaybededucedbyanalogy.Inaddition,table2givestheperformanceindicesofsomemechanismonly,wherethemeanofSNissameasintable1.DescriptionforalgorithmPerformanceAnalysisPerformanceAnalysisBeginForL45To55//scopeoffixedlengthlinkForR10To20//scopeofradiusofdynamicplatformSamplePointNumber0//initializationsamplepointnumberiszeroforeverymechanismForxMaximumToMaximummovingalongAxisXStep4cmForyMaximumToMaximummovingalongAxisYStep4cmForzMaximumToMaximummovingalongAxisZStep4cmForαMaximumToMaximumrotatingaroundAxisXStep12°ForβMaximumToMaximumrotatingaroundAxisYStep12°ForγMaximumToMaximumrotatingaroundAxisZStep12°Ifsamplepointx,y,z,α,β,γReachablepointofmechanismsworkspaceCalculatingthefirstorderinfluencecoefficientmatrixanditsFrobeniusnormatcurrentpointIfThefirstorderinfluencecoefficientmatrixisnotsingularSamplePointNumberSamplePointNumber1CalculatingthesecondorderinfluencecoefficientmatrixanditsFrobeniusnormcalculatingconditionnumberatthispointwithformulaandaccumulatingsumofperformanceindices//detailedformulaisgiveninthefollowingofthissectionEndifEndifEndforEndforEndfor

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