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西安文理学院机械电子工程系本科毕业设计（论文）题 目 可倾式回转工作台设计 专业班级 08级机械（2）班 学 号 08102080217 学生姓名 张阳 指导教师 边培莹 吕荣生 设计所在单位 西安文理学院 2012年 5 月西安文理学院本科毕业设计（论文）任务书题 目可倾式回转工作台设计学生姓名张阳学 号08102080217专业班级08级机械（2）班指导教师边培莹、吕荣生职 称助教、副教授教 研 室机械毕业设计（论文）任务与要求1 随着加工零件的复杂性，三轴联动数控机床已无法满足需求，如将三轴联动数控机床改造为五轴联动就需要增加A轴和C轴，故可设计一个可倾式回转工作台来完成数控机床的A轴和C轴的联动。完成其结构设计，并论证其合理性；2 设计参数：A轴转动范围-3090度，C轴转动范围0360度，工作台加工的最大工件尺寸为200，其他尺寸参照一般机床工作台；3 开题报告及中期检查各一份；4 利用三维软件进行三维实体建模；5 用计算机或手工绘制二维装配图、主要零件图；6 撰写毕业论文，包括文献综述（另翻译英文资料一份）及主要图纸文件附图等；毕业设计（论文）工作进程起止时间工作内容2012.1.10-2012.2.282012.3.1-2012.3.202012.3.21-2012.4.102012.4.11-2012.4.202012.4.21-2012.5.11分析任务书，了解所选课题，选择相应期刊及论文资料，制定开题报告。研究学习五轴机床的工作原理及主要功能，并提出可倾式回转工作台设计方案和主要结构传动方式。进行该系统结构方案设计和驱动方式选择，进行三维实体设计，并论证其合理性。进一步对确定的方案进行结构设计，并绘制二维装配图、主要零件图。完成毕业设计论文的撰写、整理工作。开始日期 2012-1-10 完成日期 2012-5-11 教研室主任（签字） 系主任（签字） 西安文理学院本科毕业设计（论文）开题报告题 目可倾式回转工作台设计学生姓名 张阳学 号08102080217专业名称机械设计制造及其自动化指导教师边培莹、吕荣生开题时间20122.28班 级08级机械（2）班一、 选题目的和意义可倾式回转工作台是指在机床除了有X、Y、Z三个直线进给轴之外，还有一个可倾式进给轴和一个回转进给轴，即绕X轴倾斜的A轴和以Z轴旋转的C轴。这样能在一次装夹中，可以加工出除了定位面之外五个加工面，尤其是可对复杂的空间曲面进行高精度自动加工，所以普遍认为可倾式回转工作台的应用是解决叶轮、叶片、船用螺旋桨、重型发电机转子、汽轮机转子、大型柴油机曲轴等零件加工的唯一手段。该结构的研究对一个国家的航空、航天、军事、科研、精密器械、高精医疗设备等行业的发展有着举足轻重的影响力。可见可倾式回转工作台提供了一种动作结构紧凑、操作方便、在较小的空间尺寸范围内实现轴旋转倾斜功能的工作台，解决了在中小型数控机床上进行四轴或五轴加工的问题，实现了对零件的分度加工和连续曲面加工。同时该工作台的设计也可缩短生产准备时间，增加切削加工时间的比率，从而提高生产效率。二、 本课题在国内外的研究状况及发展趋势早在20世纪60年代，国外航空工业为了加工一些具有连续平滑而复杂的自由曲面大件时，就已开始采用了旋转式加工台面，但一直没能在更多的行业中获得广泛应用，只是近10年来才有了较快的发展。我国从近十几年才展开的研究，2005年陈则仕，张秋菊通过建模完成可倾式回转工作台的仿真，到2007年8月沈阳机床集团、沈阳高精数控技术有限公司及中科院沈阳技术研究所联合开展实施的“沈阳数控”系统安装应用，使可倾式回转工作台式机床正式具有自主知识产权。目前国内在数控机床可倾式回转工作台领域中取得了较快的发展，数控转台的品种也较多，规格从1002500mm，基本可以满足一般用户的配套需要。但高端市场几乎没有国产品牌，只是国内主机采用境外产品配套的占有不小的比例。与国际市场的著名品牌相比，我们的技术参数与指标落后于其尖端产品（比如材料、转速、承载能力、分度定位精度等）；现在意大利宝利诺.巴吉产品技术配置已经达到横向X轴3000 mm，纵向Y轴2600 mm、垂直方向Z轴950 mm、A轴+/-135, C轴 +/-200；轴最快移动速度：X轴100 m/min，Y和Z轴60 m/min。国外已经达到可倾式回转工作台普及化，生产实用化，我国普及型产品的可靠性、耐用度、精度保持性方面都比欧美和日本差一些，外观造型也不尽如人意。所以我们应该努力打造精品、提高配套水平。上述现状及资料说明，在今后的我们待解决问题有：（1）我国可倾式回转工作台要发展中高次品种，在提高产品质量、性能水平和可靠性的同时，跟踪学习发达国家的先进技术，并在产品创新，提高工艺水平上多下功夫；总结经验，加强产、学、研的结合，走专业化生产的路子，面向市场，参与竞争，满足主机发展的需要。（2）可倾式回转工作台发展，依赖于行业技术水平和创新能力的提高，比如直线电机驱动技术和双驱动技术正在采用研究。（3）制造业从刚性自动化向柔性自动化方向转变这一社会需求，所以国产配套产件在产品质量、性能、结构创新、品牌信誉、外观造型、精度稳定性等方面有待提高。三、 主要研究内容1确定方案：了解可倾式回转工作台工作原理及主要功能，提出其结构设计方案；2结构分析：根据系统功能，设计各机构的结构形式，并论证其合理性；3系统设计：根据设计要求，通过计算确定各机件的材料、结构及具体尺寸，制定运动学方案；4图纸设计：绘制该结构的实体图，及主要零件二维图等；5. 完成毕业论文的撰写。指导教师意见及建议： 张阳同学非常认真的查阅了本毕业设计课题相关的参考资料与相关文献，对所设计的可倾式工作台发展现状清楚、设计方案思路清晰，学习态度认真。同意开题！签字： 年 月 日教研室审核意见： 签字： 年 月 日注：此表前三项由学生填写后，交指导教师签署意见，经教研室审批后，才能开题。西安文理学院,学生姓名：张阳 学 号： 08102080217 指导教师：边培莹 吕荣生 专业班级：08级机械设计制造 及其自动化2班,可倾式回转工作台设计,可倾式回转工作台是指在机床工作台工作时除了有X、Y、Z三个直线进给轴之外，还有一个可倾式进给轴和一个回转进给轴，即绕X轴倾斜的A轴和以Z轴旋转的C轴。,简介,课题意义,可倾式回转工作台提供了一种动作结构紧凑、操作方便、在较小的空间尺寸范围以轴旋转倾斜实现多面加工，解决了在各类型数控机床上进行四轴或五轴加工的问题，实现了对零件的分度加工和连续曲面加工。同时该工作台的设计也可缩短生产准备时间，增加切削加工时间的比率，从而提高生产效率。 结构的研究对一个国家的航空、航天、军事、科研、精密器械、高精医疗设备等行业的发展有着举足轻重的影响力。,设计思路,回转部分设计图,回转部分设计,工作台需要回转是通过油道1进油使活塞2向上运动，同时推动推力球轴承4使中心轴5向上运动，从而工作台也向上移动，实现上端齿盘6和下端齿盘7的松开，为实现回转动作做好准备。当工作台回转完成后，需要下降使工作台夹紧时，油液会从油道8进入活塞缸上腔，使活塞2向下移动，中心轴5带动工作台下降。使上端齿盘6和下端齿盘7啮合，实现工作台的夹紧定位。,摆动部分设计图,摆动部分设计,工作台需要倾斜时，齿条2与齿轮1咬合，齿条2进行径向运动，带动齿轮1转动，齿轮1与摆动架3由螺栓连接，摆动架3与底座6通过深沟球轴承相连，由于底座固定所以齿条2的直线运动转变为齿轮1的摆动。摆动架跟着摆动实现回转工作台的倾斜运动，可实现了工作台90度倾斜。当摆动到加工位时，齿条2与齿轮1分离，实现定位加工。,液压动力部分设计,在液压缸的两侧油路上都串接液压单向阀（液压锁），活塞可以在行程的任何位置上锁紧，不会因外界的原因而颤动，而其锁紧精度只受液压缸的泄漏和油液压缩性的影响。为了保证锁紧迅速准确，换向阀采用了H型中位机能。这种液压系统能很好的满足液压式可倾式回转工作台的要求。 CB-B4液压油泵的选择,主要零部件设计计算,工作台：T型槽、衬套、螺孔分布 端齿盘：工作台尺寸 中心轴：工作台、端齿盘配合 中心轴承：推力球轴承 活塞：轴心转轴 齿轮：力、传动 齿条：90度摆动,其他零件设计,密封圈：齿条 活塞封闭块：活塞杆直径 推杆导向块：摆动实现角度配合 摆动架：与传动整体配合 底座：摆动架,结束语,通过这次毕业设计的磨练，我学到了很多东西。这是一次系统的知识考察。专业课程知识综合应用的实践训练，这是我们迈向社会，从事职业工作前一个必不可少的过程。一步步走下来，让我的思维模式更加严谨。 在此要感谢我的辅导老师边老师，感谢她耐心的指导与督促，在我设计过程中时刻对我批评与建议让我进步很大。 感谢我的同学，感谢他们给了我许多的帮助。,附录外文文献A MODULAR MODELING APPROACH FOR THE DESIGN OF RECONFIGURABLE MACHINE TOOLSTulga ErsalGraduate Student Research Assistant Department of Mechanical Engineering University of Michigan, Ann Arbor Jeffrey L. Stein Professor Department of Mechanical Engineering University of Michigan, Ann Arbor Loucas S. LoucaLecturer Department of Mechanical and Manufacturing Engineering University of Cyprus lsloucaucy.ac.cyABSTRACTA new generation of machine tools called Reconfigurable Machine Tools (RMTs) is emerging as a means for industry to be more competitive in a market that experiences frequent changes in demand. New methodologies and tools are necessary for the efficient design of these machine tools. It is the purpose of this paper to present a modular approach for RMT servo axis modeling, which is part of a larger effort to develop an integrated RMT design and control environment. The components of the machine tool are modeled in a modular way, such that the model of any given configuration can be obtained by assembling the corresponding component models together based on the topology of the machine. The component models are built using the bond graph language that enables the straightforward development of the required modular library. These machine tool models can be used for the evaluation, design and control of the RMT servo axes. The approach is demonstrated through examples, and the benefits and drawbacks of this approach are discussed. The results show that the proposed approach is a promising step towards an automated and integrated RMT design environment, and the challenges in order to complete this goal are discussed. INTRODUCTIONThe ever-growing competition forces manufacturers to respond more quickly to changes in demand. As a result, manufacturers have to deal with short product life cycles, short ramp-up times and frequent changes in product mix and volumes, without compromising product quality and cost.Being the heart of a manufacturing system, improved machine tools hold the key in meeting the above mentioned requirements. The shortcomings of conventional machine tools, which can be classified as dedicated and flexible, are being felt more today than in the past: With their design focus being a single part, dedicated machines lack the flexibility and scalability that the flexible machines offer. On the other hand, flexible machines cannot achieve the robustness, the cost-effectiveness and the throughput levels of dedicated machines1. A new generation of machine tools is being developed in theEngineering ResearchCenterforReconfigurable Manufacturing Systems at the University of Michigan, Ann Arbor, as part of an effort to overcome the insufficiencies of current manufacturing systems. These machine tools are called Reconfigurable Machine Tools (RMTs) 2, and they combine the advantages of their dedicated and flexible counterparts. They are designed around a part family and their structure, in terms of both hardware and software, can be changed quickly and cost-effectively to achieve the exact functionality and capacity desired 3. Containing several configurations to provide the needed flexibility and scalability, RMTs intrinsically lead to more complex machine tool design problems. Methodologies and tools that would help facilitate the design of RMTs could highly benefit and encourage the employment of reconfigurable manufacturing systems 4-6. One important aspect of the RMT design problem is developing dynamic models for the design, evaluation and control of servo axes. What makes the problem of modeling RMTs unique is that even though there is a single machine tool, there exist several configurations, which separate models have to be developed for. Developing dynamic models for all possible configurations could be a cumbersome and time-consuming task if ad hoc methods are utilized. Moreover, without a systematic methodology modeling would require a lot of expertise and would be prone to errors, which would degrade the efficiency of using models in the design.In this paper we present a methodology that could help make the RMT modeling task less time demanding, less error-prone and less challenging. The key idea of this methodology is to take advantage of the modular structure of the RMTs and adopt modular modeling concepts into the RMT modeling methodology. First, the physical components of an RMT are modeled in a modular way using the bond graph modeling tool 7. The bond graph model is encapsulated in a schematic representation with defined connection ports. Then, the schematic component models are assembled by following the topology of a given configuration to obtain the model of the configuration. The configuration model can be easily integrated with the modules of non-energetic components such as interpolators and controllers, which can be conveniently represented with block diagrams; however this is beyond the scope of this paper. BACKGROUNDThe RMT concept was introduced by Koren and Kota 2, and since their introduction, the design of RMTs has been an active research area. Methodologies and tools for designing RMTs 4 as well as evaluating structural stiffnesses 5 and tool tip errors 6 of de sign alternatives have been developed.However, the problem of developing a system level modeling methodology for RTMs has not been addressed yet. Traditionally, machine tool models depict the machine tool as a group of servomotor and feed drive assemblies that aremodeled as first or second order systems 8,9. Chen and Tlusty, however, showed that the structural dynamics of the feed drive could affect the system performance once high-speed machine tools are considered 10. Many researchers identified the necessity to use higher order models for high-speed machine tools to cope with structural dynamics in order to be able to design the control system successfully 11-13.These publications clearly indicate that modeling a machine tool is not a trivial task and care must be taken when deciding on the complexity of the model, but they do not provide a systematic way of modeling and, therefore, remain application specific approaches.There have been research efforts to help the design and control of machine tool feed drives by automatically providing simulation models. Wilson and Stein developed a software program called Model-Building Assistant to automaticallysynthesize a minimum order model of the machine tool drive system for a given frequency range of interest (FROI) 14. The complexity of the model, which includes a flywheel, a torsional shaft, a ballscrew , a ballnut, a DC motor, a torsional coupling, a belt-drive and a gear-pair as components, is automatically increased until the eigenvalues of the system fall beyond the specified FROI. This work was a proof of concept for a model deduction algorithm and can not be applied to any real machine tool system. However, such algorithm can be used to determine the appropriate model complexity after the development of the system model.Gautier et al. have developed a software package called SICOMAT (Simulation and Control analysis of Machine Tools) which helps with the modeling, simulation, modal analysis and controller tuning of one or two decoupled or two coupled machine tool axes 15. Their models describe the dynamics of the mechanical system by a number of masses and springs. This work makes the modeling of a machine tool process more systematic, and is therefore a valuable tool to the modeling engineer; however, it lacks the generality, modularity and flexibility that the RMT design methodology demands. The RMT modeling methodology Figure1 showstheenvisioned RMT modeling environment. It is desired to automate the task of RMT modeling, where the model of a given RMT configuration is automatically assembled from a library of modular component models. This way, all the candidate designs, which are generated either manually or automatically 4, can be modeled quickly and the models can be used to evaluate the candidates in terms of their servo axis dynamic performance and help with their design. As Figure1 also implies, the modular component model library is a key part for the automated RMT modeling environment. Therefore, the first step of the proposed methodology is to develop modular models for the components that are used to generate the RMT configurations. This paper puts the emphasis on mechanical parts and discusses their modeling in a modular way, because the energy interaction between the mechanical components makes their modularmodeling more intriguing. Modular modeling of components that only exchange signals, e.g. interpolators and controllers, presents a relatively simpler problem and are not discussed here. To promote modularity and to be able to deal with the energy interactions between the components and their environment rather easily, bond graphs are utilized as the modeling language. Bond graphs provide a power-based graphical representation of a physical system. Moreover, bond graphs describe different energy domains in a unified way, which is a relevant advantage for RMT modeling, since their servo axes may include components from different energy domains, such as mechanical, electrical or hydraulic. Bond graphs are only one level in the hierarchy of model representations used in this work. Underneath the bond graph level the mathematical equations represent the physical phenomena captured by the bond graph and this mathematical representation is the lowest level in the hierarchy. In the highest level bond graphs are encapsulated in a schematic representation, which not only allows for a compact representation, but also shows the connection ports where the model can interact with its environment. Figure 2 illustrates this hierarchy of model representations.In this paper all the models are shown in the schematic level, because the goal of this paper is not to discuss their derivation, but rather to show what can be done once those models are obtained. A detailed description of the models used in this paper can be found in 16.In order to be able to cope with any spatial motion that the mechanical components may go through in different configurations, models that capture the three-dimensional dynamics are used. Moreover, the initial assumption is made that in the mechanical domain all components can be adequately represented as rigid bodies.Figure 3 shows the schematic representation of a generic rigid body with N connection ports, which is one of the main model modules in the library. The ports correspond to points of interest on the rigid body, where the physical interactions with the environment occur. Bonds (lines with half arrows) are used to indicate that a port is a power port, i.e. the body can exchange energy with its environment through those ports, whereas active bonds (lines with full arrows) indicate signal ports, i.e. only information is transferred through these ports. The model library also contains three-dimensional joint models that can be used to describe the relative motions between the component models. These joint models are also developed in a modular way with ports, where they can be connected to other model modules. The library offers two ways to express the constraints: (1) stiff springs and dampers can be used to implement more realistic constraints or to approximate ideal constraints;(2) Lagrange multipliers can be introduced to express the constraints ideally. For a discussion of joint models the reader is also referred to 16.Once the model library is populated with some basic modular rigid body and joint models, the modeling procedure can be carried out as follows: The RMT components are broken down into subcomponents and each subcomponent is associated with a model in the library. If none of the model modules in the library can describe the subcomponent adequately, a new model has to be developed for that subcomponent and added to the library. Then, the models are assembled by following the topology of the components and using the necessary joint models. Once a component model is obtained, it can be stored in the library for reuse. Finally, the component models are assembled by following the topology of a given configuration to obtain the model of that configuration. The process is illustrated in Figure 4 as a flowchart and demonstrated in the following section through examples.EXAMPLESThe following two examples give an overview of the proposed modeling methodology. The first example shows the modeling of a slide and the second example employs that slide model to develop a model for a RMT. The purpose of these examples is to give a general idea about how the modularity of the components can be exploited in the modeling procedure, rather than to explain the details of how each (sub)component can be identified and modeled. Therefore, the details of the model modules, such as their level of complexity, are not discussed.Modeling a Slide A slide is a basic component of most machine tools, including RMTs. Different RMT configurations can beobtained by adding/removing slides to/from the configuration or by rearranging the existing slides in the configuration. Therefore, it is useful to demonstrate the modeling procedure of a slide. Consider the slide shown in Figure 5. It is assumed that thecomponents are identified as shown in the figure. For the purposes of this example, all the subcomponents except the motor can be modeled as rigid bodies with various number of connection points. The motor dynamics can be broken down into two domains: the three-dimensional rigid body dynamics of the housing and the electromechanical dynamics that drive the relative rotational motion between the rotor and the stator. A model has been developed for the motor that captures the dynamics in both domains and its schematic representation is given in Figure 6.Modeling the Arch-type RMT, which was developed by the NSF Engineering ResearchCenterforReconfigurable Manufacturing Systems at the University of Michigan, is the worlds first full scale RMT. It is a three-axis machine tool that is designed around a part family with five different surface inclinations ranging from -15 to 45 at 15 increments and has the flexibility of doing machining operations such as milling and drilling at any of those angles. The reconfigurability of the Arch-type RMT comes from the spindle unit, which can be configured at the five angles mentioned above by moving it along the curved guide way of the arch module and fixing it at any of the five locations on the arch module that are defined by mechanical stops. For the purposes of this example the base module is assumed to be identical to the ground and it has no effect on the dynamics of the machine tool. The worktable, the column and the spindle are essentially slides and their models are based on the slide model given above. The arch is modeled as a rigid-body with a connection port for each mechanical stop. Finally, the model of the Arch-type RMT is assembled by following the topology of the actual machine. Note that the figure shows the model for one of the configurations only. The models for the other configurations can be obtained by changing the connection port of the arch model. Now that the model is assembled, the equations of motion can be derived from the graphical model automatically, and simulations can be performed. Although the mathematical model is ready, we cannot provide any simulation results in this paper due to the current lack of good estimates of system parameters. Simulations can be carried out easily once the parameter values are available.DISCUSSIONIn this paper, modular and hierarchical modeling concepts are identified as the key characteristics of the RMT modeling methodology. The modular structure of RMTs makes this modeling approach beneficial, because the models contain all the key characteristics of reconfigurability 17:1.Modularity: The (sub)components are modeled in a modular way 2.Integrability: The models can be integrated with other modules through their connection ports 3.Customization: The level of detail included in the model modules can be customized for individual components4.Convertibility: Models can be easily converted from one configuration to another 5.Diagnosability: Model verification can be carried out easily on model modulesThe approach presented in this paper allows for the separation of the modeling task into two steps:(1) Developing component models;(2) assembling the configuration model. While the first step still requires a significant modeling expertise, the second step is much more systematic, and can even be automated, which is left as a future work. Also, the two steps have different focuses: The first step focuses on the dynamics within a component, whereas the second step focuses on the dynamics between the components.Compared to the existing approaches of servo axis modeling, where every different RMT configuration would potentially be a new modeling problem, the approach presented in this paper allows for a faster development of configuration models. Configurations can be assembled quickly using the model modules in the library, provided that all the components utilized in a given configuration have a corresponding model module in the library. Therefore, having a comprehensive model library is essential for this methodology to be efficient.A three-dimensional multibody approach to modeling the mechanical components of the machine tool promotes modularity in the mechanical domain. Thus, for example, the model of the machine tool slide can be used in any configuration without having a special slide model for circumstances where the base of the slide is constrained to move in more restricted ways. With a multibody approach, generic component models can be created without a-priori knowledge of the connectivity of the components. A drawback of the three-dimensional multibody approach is, however, that the generic models might be more complex than a certain configuration actually demands. For example, in a given configuration a component can be limited to a planar motion only, in which case a three-dimensional model would be overcomplex. The model should be simplified; otherwise unnecessary complexity is retained in the model and reduces the computational efficiency of the model. The proposed modular modeling methodology would benefit from the integration with a model order reduction algorithm. This will be the focus of future work.Currently the bodies are considered rigid, which is not always an adequate approximation. In order to be able to study the effects of the structural dynamics, flexible body models should also be developed and included in the library. Finally, it is worthwhile to note that commercially available software packages, such as ADAMS, DADS, EASY5, Dymola etc, could also be used for the purposes of RMT modeling. However, to take advantage of the unified powerbased approach that the bond graphs provide and to make a future model reduction easier to implement, bond graphs are chosen as the modeling language.SUMMARY AND CONCLUSIONS A modular modeling approach is proposed as a RMT modeling methodology. The components are modeled in a modular way, so that the modeling task of a given RMT configuration merely involves assembling the corresponding model modules together. Two examples are given to illustrate the methodology, and advantages and disadvantages of this approach are discussed. The outcomes of this work indicate that a modular approach to the problem of modeling RMTs can make the modeling process systematic and thus potentially more useful to practicing engineers if implemented in an automated modeling and design environment. However, there are still challenges, as highlighted in the discussion, that need to be addressed before an automated modeling environment can be implemented in a practical way. ACKNOWLEDGMENTSThis work was supported by the Engineering Research Center for Reconfigurable Manufacturing Systems of the National Science Foundation under Award Number EEC 9529125. 中文翻译组合机床设计的模块化建模方法图尔加埃萨尔美国密歇根大学研究生研究助理机械工程系安阿伯Ann Arbor tersal 杰弗里L斯坦美国密歇根大学机械工程学系教授Ann Arbor stein 卢卡斯卢卡塞浦路斯大学机械与制造工程讲师部lsloucaucy.ac.cy摘要在市场需求讯息万变的情况下，为提升工业竞争力，称为组合机床（RMTs）的新一代机床应运而生。为这些机床的高效设计，则须提出新的方法和工具。这是本文提出组合机床伺服轴模块化建模方法的目的，而这也只是努力发展集成的组合机床设计和控制环境的一部分。该机床的组件被模块化，这样就可以将相应的组件基于机床拓扑学装配起来得到任何特定的配置模型。组件模型使用内置的图形代码以促进所需模块库的直接发展。这些机床模块可用于评估，设计和机床伺服轴的控制。这种方法已有实践证明，人们对其优缺也有一定认识。结果表明，该方法是实现自动化和集成的机床设计环境很有希望的一步。人们对完成这个目标所要面对的挑战也进行了探讨。引言不断增长的竞争迫使制造商更快速地响应需求的变化。因此，制造商必须面对产品市场周期短，过渡时期短，型号和量变化频繁的情形，而且不能影响产品质量和成本。作为制造系统的核心，改进的机床在满足上面提到的需求上把握着关键技术。传统的机床在专用和柔性上的缺点今更胜昔：因其设计的重点在单一部件，使专用设备缺乏柔性机床所具备的灵活性和可扩展性。另一方面，柔性机床无法实现鲁棒性，高的成本效益和专用设备所有的生产量水平1。新一代机床在美国密歇根大学工程技术研究中心由Ann Arbor主持开发，为的是克服现有生产系统的不足部分为可重构制造系统而开发。这些机床称为组合机床（RMTs）2，它们结合了专业和灵活的优点。它们围绕一个零件族和他们的结构设计，在硬件和软件方面，可以快速的改变，经济有效地实现精确的功能和满足设备需求 3 。含多种配置，提供所需柔性和可扩展性，RMTs本质上导致了更复杂的机床设计问题。帮助促进RMTs设计的方法和工具将很大的促进可重构制造系统的应用4-6。RMTs设计问题的一个重要方面是发展动态模型的设计，伺服轴的控制和赋值。使RMTs建模问题独特的 是，即使仅有一台机床，也和存在几种不同的配置，且单独的模式，必须开发。为所有可能的配置开发动态模型可能是一个繁琐和费时的任务，即使利用了特别的方法。而且，没有系统的方法建模将需要大量的专业知识，并容易出错，从而降低了设计中使用模型的效率。本文提出了一种方法，可以有助于减少RMTs建模的时间，出错和麻烦。这一方法的核心思想是利用RMTs的模块化结构的优势，采取RMTs模块化建模方法的建模概念。首先，RMTs的物理组件的模块化建模方式是使用键合图建模工具7。该键合图模型被封装在一个定义的连接端口的示意图中。然后，原理组件模型按照给定的配置拓扑来组装获取配置模型。配置模型很容易与非动部件如插补器和控制器结合，这可用条形图方便体现；但是这超出了本文的范围。背景RMTs概念是由科伦和哥打2提出，从那时起，RMTs的设计就是一个活跃的研究领域。设计RMTs4的方法、工具以及评价结构刚度5和提示错误6设计的替代工具已经开发出来。然而，开发一个系统级建模方法的问题还没有解决。传统上，机床模型描绘伺服电机和驱动装置为第一或第二阶系统8,9 。然而，陈和特卢斯季认为一旦采用了高速机床伺服驱动的结构动力可能会影响系统性能 10。许多研究人员认定需要配合结构动力学在高速机床上使用高阶模型，以便能够成功设计其控制系统 11-13。这些论述清楚地表明，机床建模不是一项简单的任务和考虑复杂模型时必须要细心，但他们没有提供系统的建模方法，因此，仍然得应用特殊方法。为有助于设计和控制机床伺服驱动，仍有人努力做自动仿真模型的研究。威尔逊和斯坦开发了一个叫建模助手的软件程序能在一个给定的影响范围内自动创成机床驱动系统微型模型（FROI）14。该模型包括飞轮、一个扭转轴、一滚珠丝杠、一滚珠直流电动机、一个扭转连接键、带驱动和齿轮副的组成部分，其复杂性自动增加，直至超过规定FROI的特征值。这项工作仅是一个概念模型推演法则的证明，不能适用于任何真正的机床系统。不过，这种方法可以用来确定发展系统模型时其复杂性是否适当。戈蒂埃等已经开发出一种名为SICOMAT的软件包（仿真与控制的机床分析），这有助于建模，仿真，模态分析和控制器的一倍或两倍减震或两个机床轴耦合15。他们的模型由大量的模块和弹簧描述机械系统的动态特性。这项工作使得机床的建模过程更加系统，因此对建模工程师来讲是很有价值的工具，但它缺乏RMTs设计方式所要求的普遍性、模块性和柔性。RMTs建模方法如图1显示了所设想的RMTs建模环境。这对于实现RMTs建模任务自动化是理想的，而特定的RMTs的配置模型自动从标准组件模块库组装。这样所有人工或自动产生的候选设计都可以快速模拟，而其模型可用于就它们的伺服轴动态性能和帮助设计方面评价候选方案，如图一所示，模块化组件模型库是一个自动的RMT建模环境的重要组成部分。因此，拟议方式的第一步就是为了开发用于生成RMT配置组件的标准