外文翻译平行数字控制机床的制造业工序的运动仿真英文版.pdf外文翻译平行数字控制机床的制造业工序的运动仿真英文版.pdf

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FRONTMECHENGCHINA20062173−176DOI101007/S1146500600204ZHANGJIANMIN,FANYU,JIADONGYUN,ZOUQIULING,WUYINGKINEMATICSIMULATIONOFAPARALLELNCMACHINETOOLINTHEMANUFACTURINGPROCESSHIGHEREDUCATIONPRESSANDSPRINGERVERLAG2006ABSTRACTAIMEDATENHANCINGTHERESEARCHSTATUSOFPARALLELMACHINETOOLS,THISPAPERINTRODUCESTHESTRUCTUREOFA6SPSPARALLELMACHINETOOLANDEXPLAINSTHEAPPLICATIONSIGNIFICANCEOFTHEKINEMATICSIMULATIONOFTHEMANUFACTURINGPROCESSTHESIMULATIONSOFTWAREWASDEVELOPEDINMICROSOFTVISUALC60USINGOPENGLAPIFUNCTIONSTHEDATAFLOWSAREPRESENTEDFINALLY,ASIMULATIONAPPLICATIONOFODDLEAFHYPERBOLOIDISPERFORMEDBEFORETHEMANUFACTURINGPROCESS;THEKINEMATICSIMULATIONDEMONSTRATESTHERATIONALEOFTRACEPLANNINGANDTHEFEASIBILITYOFMANUFACTURINGINSTRUCTIONKEYWORDSKINEMATICSIMULATION,PARALLELNCMACHINETOOL,MANUFACTURINGPROCESS,TRACEPLANNING1INTRODUCTIONPARALLELNCMACHINETOOL,ALSOKNOWNASVARIEDAXISNCMACHINETOOL,VIRTUALSPINDLEMACHINETOOL,ANDPARALLELROBOT,ISANOVELNONLINEARTOOLBASEDONNONLINEARSTEWARTMECHANISMSANDDIFFERSFROMTRADITIONALLINEARTOOLSINTHEPASTDECADES,THETOOLHASRECEIVEDAGREATDEALOFATTENTIONFROMMANYRESEARCHERS,ANDITSDEVELOPMENTANDAPPLICATIONSHAVEACHIEVEDMANYIMPROVEMENTS1,2DURINGTHISPERIOD,THEKINEMATICSIMULATIONSYSTEMOFPARALLELNCMACHINETOOLSHASALSOBEENDEVELOPEDASAPRACTICALTOOLANDPLAYSAGREATROLEINPARALLELMACHINETOOLDESIGNANDRESEARCHKINEMATICSIMULATIONHASNOWBEENAPPLIEDINMANYASPECTSOFTOOLDESIGN;FOREXAMPLE,ITCANEXPLORETHEDIMENSIONALTARGETANDSEARCHTHETERMINALEDGE;ITCANALSOCHECKTHEVALIDITYOFTRACEPLANNINGFURTHERMORE,THESAFETYOFTHEWHOLLYPRODUCEDUNITCANBEENSUREDBYREALTIMECHECKINGOFTHECOLLISIONANDINTERFERENCEOFTHENCMACHINETOOL3THEREAREMANYARTICLESONTHEDEVELOPMENTOFASIMULATIONSYSTEMMOSTOFTHESEARECONSTRUCTEDONANEXISTINGSIMULATIONSYSTEM,WHICHMAKESTHEAPPLICATIONQUICKLY,BUTALSOBRINGSSOMEPROBLEMSHUGEDEVELOPMENTINVESTMENTANDINFEASIBLEAPPLICATIONINFREEFROMFEATUREOBJECTTRACEPLANNINGSIMULATIONINALLUSIONTOPARALLELNCMACHINETOOLAPPLICATION,THISPAPERINTRODUCESADEVELOPMENTMETHODOFKINEMATICSIMULATIONUSINGOPENGLAPIFUNCTIONSWITHMSVISUALC42THESTRUCTUREOFA6SPSPARALLELNCMACHINETOOLASSHOWNINFIG1,OXYZ−ISASTATICCOORDINATEOFTHEBASEPLATFORMANDPXYZ′′′′−ISAMOBILECOORDINATEOFTHEMOBILEPLATFORMACCORDINGTOTHEREVERSEKINEMATICMODELJJJIPPAB−1WHEREJIISTHEVECTOROFLEGDIRECTION,PISTHEVECTORFROMTHEORIGINPOINTOFTHEMOBILECOORDINATETOTHEORIGINPOINTOFTHESTATICCOORDINATEJPISTHEVECTORFROMTHECENTERPOINTOFTHEMOBILEPLATFORMSPHEREJOINTTOTHEORIGINPOINTOFTHEMOBILECOORDINATEJBISTHEVECTORFROMTHEORIGINPOINTOFTHESTATICPLATFORMTOTHECENTERPOINTOFTHEUNIVERSEJOINTAISTHETRANSFORMATIONMATRIX,ALSOCALLEDDIRECTIONCOSINEMATRIXINTHEPASTDECADES,STEWARTPLATFORMRESEARCHHASRECEIVEDAGREATDEALOFATTENTIONANDHASBEENAPPLIEDINAWIDEVARIETYOFEQUIPMENT,SUCHASFLIGHTSIMULATORS,PARALLELROBOTMANIPULATORS,MACHINETOOLS,SIXDEGREESOFFREEDOMCOORDINATEMEASURINGDEVICESINPRACTICALTERMS,THE6SPSPARALLELNCMACHINETOOLISBASEDONTHESTEWARTPLATFORMANDHASSOMEPOTENTIALLYADVANTAGEOUSPOINTS,SUCHASSIMPLERSTRUCTURE,HIGHERRESEARCHARTICLEZHANGJIANMIN,FANYU,JIADONGYUN,ZOUQIULING,WUYINGSCHOOLOFMECHANICALENGINEERINGANDAUTOMATION,BEIJINGINSTITUTEOFTECHNOLOGY,BEIJING100081,CHINAEMAILZJMMHBITEDUCN174STIFFNESS,HEAVIERLOADINGABILITY,MORESTABLEKINEMATICPROPERTIESFIG1SIXSPSSTRUCTUREANDVECTORSKETCHA6SPSPARALLELNCTOOLSKETCHB1STATICPIATFORM2UNIVERSALJOINT3LEG4SPHEREJOINT5MAINSPINDLE6MOBILEPLATFORM7BASEPLATFORMFIG2THEMAININTERFACEOFTHESIMULATIONSYSTEM3THESIGNIFICANCEOFMANUFACTURINGSIMULATIONTHEMOVEMENTOFTHE6SPSPARALLELNCMACHINETOOLISCONFINEDBYITSOWNSTRUCTURALCHARACTERISTICSTHELENGTHOFEACHLEGCONFINESTHEPOSEANDPOSITIONTHESWINGANGLELIMITOFTHESPHERESUBSIDIARYREAMTHEINTERFERENCEBETWEENTHELEGSTHEREFORE,THECUTTINGTOOLOFPARALLELMACHINETOOLSMUSTBEPLACEDINSIDEACERTAINWORKINGSPACEHOWEVER,WHENMANUFACTURINGACOMPLICATEDFREEFROMSURFACEPART,ITISDIFFICULTTODETERMINEWHETHERTHECUTTINGTOOLISSAFELYPLACEDINSIDETHEWORKINGSPACEANDWHETHERTHEMANUFACTURINGCODEISINACCURATE,INCOMPLETE,ORUNREASONABLECODEVALIDATION,INCLUDINGFORMATCHECKS,COMPLETENESSCHECKS,REASONABLENESSCHECKS,ANDLIMITCHECKS,MUSTBEPERFORMEDBYASIMULATIONSYSTEMBEFORETHEMANUFACTURINGPROCESSBEGINSTHEMANUFACTURINGPROCESSISSIMULATEDTOENSURETHATTHENCPROGRAMISERRORFREEANDCAPABLEOFPERFORMINGITSINTENDEDTRACEOBVIOUSLY,ALLOFTHESEPROCESSESHAVEPRACTICALSIGNIFICANCETOTHEMANUFACTUREOFPARALLELMACHINETOOLS4THEDESIGNOFTHESIMULATIONSOFTWAREPRINCIPLETHESIMULATIONSOFTWAREWASDEVELOPEDINMSVISUALCUSINGOPENGLAPIFUNCTIONSRUNNINGUNDERWINDOWS2000ACCORDINGTOTHEPRINCIPLEOFMODULARDESIGN,THESYSTEMDEVELOPMENTUSESOBJECTORIENTEDPROGRAMMINGTECHNIQUESTOENSURESYSTEMSTRUCTUREMODULARIZATIONANDDISCRETENESSTOENSURETHEROBUSTNESSANDREPRODUCIBILITYOFTHESYSTEM,ALLCOREMODULESUSETHECOMPONENTOBJECTMODELANDDATACOMMUNICATIONBETWEENSYSTEMMODULESISBASEDONTHECOMMUNICATIONCOMPONENTINTERFACETHEINPUTSOURCEOFTRACEPLANNINGSIMULATIONISTHECUTTINGTOOLPOSEFILE,WHICHINCLUDESTHECARTESIANCOORDINATESOFTHECUTTINGTOOLPOINTANDTHENORMALVECTOROFTHECUTTINGTOOLBARTHESIMULATIONISPERFORMEDACCORDINGTOALINEARPATTERNANDTIMELINEARITYUNDERTHECIRCUMSTANCESTHATTHESIMULATIONPROCESSDOESNOTGOBEYONDANYCONFINEDCONDITION,THETRACEPLANFILEWILLPRODUCETHEFILEOFTHEEXTENSIONQUANTITYOFTHOSELEGSTHATISREQUIREDBYTHEPRACTICALUSESTHEMAININTERFACEOFTHESIMULATIONSYSTEMISSHOWNINFIG2SOMEMAINFUNCTIONOPTIONSARELISTED,SUCHASTRACKPROGRAMMING,SIMULATION,ANDELONGATIONOFTHEEXTENSIONLEGS,ETCTHEMAINVIEWFRAMEISATHREEDIMENSIONAL3DSUBSTANTIALMODELOFTHEPARALLELMACHINETOOLONTHERIGHTAREAOFTHEMAINVIEWFRAME,THREESUBFRAMESAREPLACEDFROMTOPTOBOTTOM,WHICHAREUSEDRESPECTIVELYTOCONTROLTHEVISUALANGLEFOROBSERVATIONANDTOSHOWTHEPARAMETEROFTHEKNIFE’SPOSEPOSITIONANDTHEEXTENSIONQUANTITYOFTHOSELEGSTHEMODULEOFTHEMANUFACTURINGPROCESSSIMULATIONSYSTEMISSHOWNINFIG3TWOCOREMODULESARETHETRACEPLANPROGRAMMINGMODULEANDTHEMANUFACTURINGPROCESSSIMULATIONMODULETHEFORMERUSESTHETRACEPLANFILETOPRODUCETHECORRESPONDINGCUTTINGTOOLPOSITIONFILE;THELATTERINPUTSTHECUTTINGTOOLPOSITIONFILETOSIMULATETHEMANUFACTURINGPROCESS175FIG3THESTRUCTUREOF6SPSPARALLELNCMACHINETOOLMANUFACTURINGPROCESSSIMULATIONSYSTEMWHENTHEKINEMATICSIMULATIONPERFORMSTHEINITIALIZATION,THEFILEFORMATMODULEOPENSTHETRACEPLANFILEANDCHECKSTHEFILEDATA,THENCONFIGURESTHESYSTEMDATA;AFTERCHECKINGTHEVALIDITYOFTHETOOLTRACEDATA,THESYSTEMBEGINSTOPERFORMTHEMANUFACTURINGPROCESSKINEMATICSIMULATIONACCORDINGTOTHECUTTINGTOOLTRACEFILEDURINGTHISPROCESS,THESYSTEMONLYCHECKSTHESAFETYOFTHEWORKINGSPACEASSOONASTHECONFINEDCONDITIONEXISTS,THECORRESPONDINGJUDGMENTFUNCTIONANDACTIONAREACTIVATEDSOAWARNINGISGIVENAUTOMATICALLYTOINFORMTHEUSERWHATHAPPENEDANDWHATERROROCCURREDINORDERTOSIMULATETHEPRACTICALMANUFACTURINGPROCESS,THEPARAMETEROFAVIRTUAL3DOBJECTMUSTBEIDENTICALWITHTHEPARAMETEROFTHEPRACTICALPARALLELMACHINETOOLALLOFTHESEDATAAREQUERIEDBYTHESYSTEMANDARECONFIGUREDINTHEPARAMETERCONFIGURATIONMODULETHESEDATAREPRESENTTHEPRACTICALSIZEOF6SPS,SUCHASTHEABSOLUTECOORDINATEVALUEOFSIXUNIVERSALJOINTCENTERSONTHESTATICPLATFORM,THECOORDINATEVALUEOFTHESIXSPHEREJOINTCENTERSONTHEMOBILEPLATFORMINTHEMOBILEREFERENCEFRAME,THEINITIALLENGTHOFTHELEG,THEDIAMETERANDTHELENGTHOFTHECUTTINGTOOLBAR,ANDTHESPHEREREAMRADIUS,ETCTHEFUNCTIONOFTHEPOSEANDVECTORCHECKMODULEISTOCHECKTHEVALIDITYOFTHETRACEDATAANDDETERMINEWHETHERTHECUTTINGTOOLPOSEISINSIDETHEWORKINGSPACETHERELATIONSHIPBETWEENTHECOORDINATESOFTHECUTTINGTOOLPOINTANDTHEDIRECTIONCOSINEOFTHENORMALVECTORISGOVERNEDBYEQ1ACCORDINGTOTHISLAW,THEPARAMETERSOFTHEMOBILEPLATFORM,INCLUDINGTHECOORDINATESOFTHESIXSPHERICALJOINTCENTERS,ARECALCULATEDTHENTHELENGTHSOFTHESIXLEGSARECALCULATEDTHEDATAFLOWCHARTISSHOWNINFIG4THEINPUTSOURCEOFTHEMANUFACTURINGPROCESSSIMULATIONMODULEISTHECUTTINGTOOLTRACEFILE;THISFILEINCLUDESINFORMATIONABOUTTHEPOSITIONX,Y,ZANDPOSEA,B,COFTHECUTTINGTOOL,WHEREX,Y,ZARETHEPOSITIONCOORDINATESOFTHECUTTINGTOOLPOINTANDA,B,CTHEPOSEWHICHCANBEWRITTENINTHEFORMOFTHREEDIRECTIONCOSINESTHESYSTEMLOADSTHESEDATAINTOADATABUFFERANDTHENEXCHANGESTHEDOUBLEDISPLAYBUFFER,SOTHEMANUFACTURINGPROCESSCANBEDISPLAYEDDYNAMICALLYTHEDATAFLOWCHARTISSHOWNINFIG5FIG4DATAFLOWOFTHEPOSEANDVECTORCHECKMODULEFIG5THEFLOWOFKINEMATICSIMULATIONTHECONTROLFILE,ALSOCALLEDTHEPRACTICALMANUFACTURINGCONTROLPMCFILE,ISTHENCCODEDRIVERFILEINGENERAL,THETRACEFILEISATEMPORARYMIDDLEFILETHATCONTAINSINFORMATIONABOUTTRACEPLANNINGAFTERCHECKINGTHEPOSEANDVECTOROFTHETRACEFILE,THEVALIDITYANDCORRECTNESSCANBEENSUREDAFTERTHEKINEMATICSIMULATIONISPERFORMED,THERATIONALITYOFTRACEPLANNINGCANBECONFIRMEDHOWEVER,PRACTICALMANUFACTURINGREQUIRESTHEPMCFILEACCORDINGTOTHECONTROLREQUIREMENTSOFTHEPARALLELMACHINETOOL,THEFILEFORMATI/OCHECKMODULEPRODUCESTHECONSISTENT176PMCFILEWITHTHETRACEFILETHEDATAFLOWOFTHERESULTINGPMCFILEISSHOWNINFIG6,WHERERFILEISTHESTATEPARAMETERFIG6DATAFLOWOFTHEPRODUCEDPMCFILETHETRACEPLANMODULEISTHECOREMODULEINTHEMANUFACTURINGPROCESSKINEMATICSIMULATIONWHENTHESURFACEOFPRACTICALPARTSISSELECTED,THISMODULEPRODUCESTHECUTTINGTOOLTRACEPLANFILETHESTEPSINTHECONFIGURATIONAREASFOLLOWSCHOOSETHETRACETYPE;INPUTTHEPARAMETERSETTHETRACEORDER,SUCHASPARALLELLINEMODE,BORDERLINEMODE,ANDSOONAFTERALLTHEREQUIREDPARAMETERVALUESARECONFIGURED,THETRACEPLANMODULEFIGURESOUTTHEDISCRETEPOINTSCOORDINATEVALUEOFTHESPECIALSURFACEACCORDINGTOTHEREQUIREMENTSOFINTERPOLATIONPRECISIONANDEQ1THESEDATAAREWRITTENINTOTHETRACEFILEUSINGAPARTICULARDATAFORMATSHOWNINFIG7FIG7CUTTINGTOOLTRACEFILE5SIMULATIONOFODDLEAFHYPERBOLOIDODDLEAFHYPERBOLOIDISAKINDOFTYPICALCOMPLICATEDSURFACE;ITSEQUATIONIS2222221XYZABC−2WHEREA10,B6,C8THESTEPSINTHESIMULATIONAREASFOLLOWSCONFIGURETHETRACETYPEANDINPUTTHENEEDEDPARAMETERS,SUCHASVELOCITY,INTERPOLATIONPERIODS,ANDLENGTHOFTHECUTTINGTOOLBARTHENCLICKONTHEMENUOFTRACE/CREATEFILETOPRODUCETHETRACEFILE,ASSHOWNINFIG9AFTERCHECKINGTHEFILEVALIDITY,CLICKTHEBUTTONTOBEGINTHEMANUFACTURINGPROCESSSIMULATIONTHESYSTEMGETSTHEDATAFROMTHEBUFFERATTHESAMETIMEANDDISPLAYSTHEPOSITION,POSE,ANDLENGTHOFTHELEGSIFTHETRACEFILEHASANERROR,THESYSTEMCHECKSITANDDISPLAYSAMESSAGETOINDICATETHEERRORTYPEANDPOSITION6CONCLUSIONSINGENERAL,THEKINEMATICCONTROLOFTHEPARALLELMACHINETOOLISMORECOMPLEXBECAUSEOFTHENONLINEARRELATIONSHIPINORDERTOMAINTAINTHESAFETYOFTHEMANUFACTURINGPROCESS,THEMACCONTROLCODEMUSTBECHECKEDBYTHESIMULATIONSYSTEMBEFORETHEPRACTICALMANUFACTURINGBEGINS;FURTHERMORE,THERATIONALITYOFTHETRACEFILEISCONFIRMEDBY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