The machine tool is also called the 63-leg machine. The virtual axis machine tool is a new type of CNC machining equipment that was introduced in the mid-1990s. The basic feature is that the moving platform of the installation tool is connected to the fixed platform by multiple branches, and the operation of these branches is adopted. The active auxiliary drive platform moves to change the position and attitude of the tool in space, thereby achieving the feed motion of the tool relative to the workpiece. 1 heart, and online ice is essentially a combination of parallel robot technology machine tool technology. It is arranged in Cartesian coordinates with the feed axis of the traditional structure of the moving tool and the workpiece relative to the workpiece, which is a series 1 chain structure. For 5-axis machining. The heart adds two more axes to the traditional 3-axis machine to control the attitude of the tool, all of which are arranged in a series configuration. When the axis moves in a day, it is necessary to drive all the shafts behind the chain kinematic chain to move, so the motion inertia is large and the dynamic performance is poor. The same cutting force is transmitted along the open chain, so that the defects of each component will affect the cutting accuracy. The advantage of this machine tool is that the movement of each axis is independent of each other and the motion control is relatively simple.

Parallel machine tool based on parallel robot development. Because its motion platform is driven in parallel by a simple series of motion chains. Compared with the traditional series machine tool, it has the following advantages: the system stiffness and weight ratio is large; because of the parallel closed chain structure, in the quasi-static situation, the transmission member is theoretically the force bar only subjected to the tensile and compressive load, so the transmission mechanism The unit weight has a high load carrying capacity and a fast response speed. The large reduction of the inertia of the moving parts effectively improves the dynamic quality of the servo controller, allowing the moving platform to achieve high feed speed and acceleration, and is therefore particularly suitable for high volumetric precision of various high-speed CNC machine bodies. The joint errors can cancel each other out, and the errors of the joints of the series structure machine tool are accumulated; the environment adaptability is strong. Easy to reconfigure and modularize a1 typical and online, the principle is simple and simple Jane Chen Wenjia 1 today 1 2 plant Jiangsu Yangzhou winter, China Branch wears a hospital Shenyang Institute of Self-satisfaction PhD research, students. Research 1 raises the party to review the robotics.

It can form a variety of layouts and degrees of freedom combination; the technical added value is high. Parallel machine tools have the characteristics of simple hardware and software, and are an electromechanical product with high added value. Parallel machine tools, the development of new generation of manufacturing equipment with 2 waves of parallel machine tools. The domestic and international academic and engineering circles attach great importance to the research and development of parallel machine tools. In 1994, at the International Machine Tool Fair in Chicago, at 1594, the CNC machine tools and machining centers called the Hexapods 4 and variants were exhibited for the first time and caused a sensation. 2. Since then, major industrial countries have invested a lot of manpower and material resources. Conduct research and development of parallel machine tools. Such as the US Division, Germany, she, 1 company Aachen University of Technology, Hanover University, Scott University, Norway, Tu Company, Switzerland 1 and. Institute. Swedish heart robot company. Yirenli 01 Hitachi Co., Ltd., South Korea 3,100 out of 01硌 and other units have successively developed different types of CNC machine tools, laser processing and water jet machine coordinate measuring machines, etc. Based on the parallel mechanism, it has also attracted the attention of many research units. Initiated by the National Science Foundation, the first international parallel kinematics machine seminar was held in Italy in 1998, and the first international parallel kinematics machine seminar was held in the United States in 210 years.

China has supported the research and development of parallel machine tools in the National Nine Science and Technology Research Program and the 863 High Technology Development Plan. Institute of Automation, Chinese Academy of Sciences, Institute of Automation, Tsinghua University, Tianjin University of Harbin Institute of Technology, Northeastern University of Fire, Hebei University of Technology, etc., the researcher is also actively working from the field of parallel machine tools, and has developed several structural forms in cooperation with related companies. The research on multi-coordinate CNC machine tools based on parallel robots has become a research hotspot in the field of robot research and machine tool manufacturing. At present, most of the parallel machine tools introduced by both inside and outside are simple parallel mechanisms, especially 3 of them. To construct the machine tool, there are also some degrees of freedom in the parallel platform on the moving platform of the parallel mechanism. There are 6 degrees of freedom, 6 legs and 3 free throws. 3 legs are called according to the end of the long pole of each branch chain. The position and posture of the moving platform are changed by the sliding of the slider or the screw nut along the fixed platform rail to shorten the position and posture of the moving platform. The other form is to change the position and posture of the moving platform by the telescopic extension of each branch chain.

2.1 Leg-retracting 6-legged machine tools Most of the parallel machine tools that have been introduced are of this type. The parallel mechanism used in this type of machine is the most typical 6-degree-of-freedom 5 coffee 3 platform, 1 no. The movable platform is connected to the fixed platform through 6 retractable legs, and drives the movement 1 by controlling the length of the 6 retractable legs; the movement of the table is to change the first generation product of the moving platform in the middle company, and 1 is a vertical layout, The first generation product 1 Jiang 600 changed to horizontal cloth. This type of machine tool also has the first horizontal layout of the parallel machine with 6 degrees of freedom and 3 platforms. The horizontal layout greatly improves the accessibility of the workpiece and also improves the ratio of the workspace to the volume of the machine. With a 63m indexing turntable, 5-axis machining is possible. The maximum feedrate of the tool is 30. The acceleration is 0.5. The spindle speed is 0 20001. The maximum power is 37.5. The maximum torque is 49.1. The magazine is placed on the left side of the machine and has a capacity of 40 or 80. When the tool is changed, the tool magazine enters the working area, and the tool is retracted after the tool change. There is no manipulator with an air precision of 0.0=De 1 certificate. The company's 6-type machine tool is a 6-legged machine with a leg-retracting leg for the vertical layout. They use the spindle cylinder to replace it. Mobile platform. The three legs are located in the upper part of the carcass, and the three legs are located in the lower part of the simplified body. The connection between the three legs is advantageous. The main body of the corpse has a dip angle, the force is even, the natural frequency of the machine tool is very high, and the spindle runs extremely smoothly.

Several of the parallel machine tools developed in China belong to this type, and all adopt vertical layout. The prototype of the virtual axis machine tool jointly developed by Tsinghua University and Tianjin University was completed at the end of 1997. Harbin Institute of Technology, at the coffee 199, exhibited a series of legs and a 6-legged machine tool in Ding 2001. The school and the Harbin Measuring and Cutting Tool Factory jointly launched a retractable structure called the new generation and online Song. 6-legged machine tool, according to the machine tool processing range is 04, parent 6,1; spindle maximum attitude angle 27; spindle motor power is 9 small axis turn violation 10,800,1 repeat accuracy is 0.002, positioning accuracy is 0.0151 machine tool The size of the eve is 1800, 1500 to 23001, and the 1st 2001 also exhibited the tearing 263 CNC boring and milling virtual axis machine drive jointly developed by Tsinghua University and Kunming Machine Tool Co., Ltd.樾 oil, reduction, 嫔, 排排 can effectively reduce the female technical chain involved in the main technical indicators for the working space 40, 1 parent 400 father 3001; tool swing angle is ± 25; positioning accuracy is ±, 2; maximum speed is 15 2.2 Leg-sliding 6-legged machine The 6-legged length of this type of machine tool is fixed, and the position of the moving platform is changed by sliding the end of the leg on the frame rail. For example, the 6-slider mechanism proposed by the Swiss Federal Institute of Technology Machine Tool and Manufacturing Research Institute (1) has two legs on each rail in the horizontal direction, which are parallel to each other. The length of the six rods is fixed and the structure is simple. There is no ball screw pair inside, so there is no heat source that causes thermal deformation, and the workpiece is accessible. In addition, the 35 introduced by the Toyota machine belongs to this type. The machine has 6 fixed-length legs that pass over the slider. The six guide rails are arranged to be tilted to change the position and posture of the movable platform, thereby achieving the feed motion of the cutter relative to one piece. The fact that the feed motor can be fixed to the base is a significant advantage of this type of machine. 2.3 leg-retracting 3-legged machine This type of machine tool meets the three mountain movements by changing the length of the three retractable legs. At the same time, some measures must be taken to constrain the degree of freedom that the platform does not need. Its typical generation is Italy, and it is taken in. The parallel mechanism of the machine tool company and the Swedish robot company 1 has three degrees of freedom, and the movement of the slave platform to the length of the base is changed by the length of the outer three legs, so that the moving platform realizes three degrees of freedom. The middle rod acts as a restraint to limit the undesired moving platform. Among them, Rui called, 8 robots 1 exhibited at the American Chi Lige International Machine Tool Exhibition 182000 in September 2000, and the 1 加 1 Ding 1845 plus center was realized to realize 5-axis machining. The machine was connected in series on the moving platform. Two rotating joints, the machine feed rate of 90 mountains 1. Accelerated investment. The volumetric accuracy of the volume is ±50. The repeating accuracy is ±3, the spindle power is 3,451 tearing, the spindle speed is 240003000, the magazine capacity is 乜, and the knife is changed between 5 and 5 inches. The 3,5,703 leg parallel machine tool developed by Northeastern University also adopts the structure of this leg extension. The machine uses three parallel degrees of freedom in the middle of the movable platform to control the three degrees of freedom of the moving platform. Under the driving of three telescopic rods, the three-legged machine with three legs and 2.4 legs is driven by the movable platform. The length is fixed, and the position of the moving platform is changed by sliding the end of the leg on the frame rail, and it is also necessary to take some measures to restrain the unnecessary degree of freedom of the platform.

The 013-legged machine tool has two rows of rods for the legs, and the moving platform has three degrees of freedom of movement in 12 directions.

Developed in collaboration with Tianjin No. 1 Machine Tool Plant on the 99th, the joints of the legs and mustards are composed of three parallel bars, forming a space-edge structure with redundant constraints, passing through the ends of each leg. Move on the column to make the moving platform realize 3D translation. At 0, Ding 2001, the 510-axis linkage parallel machine tool developed by Dalian Machine Tool Group and Tsinghua University was exhibited. The parallel mechanism of the machine tool has 3 degrees of freedom, and the use of two parallel rods for the species is equivalent to the legs. The legs slide in a 3-leg parallel mechanism. Its dynamic platform realizes 3-dimensional translation. In order to realize 5-axis machining, the machine has two rotating joints connected in series on the moving platform.

2.5 Other forms are in addition to parallel machines with a typical structure of one. Also play some more unique designs. The principle of the 5-coordinate parallel machine tool developed by the Shenyang Institute of Automation of the Chinese Academy of Sciences is supported by the National Science and Technology Research Program. 2. The machine adopts the traditional gantry frame structure, which is mainly composed of a gantry frame with a 4-DOF parallel mechanism and movable. The composition of the workbench, etc. among them. The moving table of the 4-degree-of-freedom parallel mechanism can realize the movement of the direction direction and the rotation of the axis about the direction 3, and the movement of the table for clamping the workpiece, and the movement of the direction, thereby realizing the 5-coordinate feed motion of the tool with respect to one piece; The working space of the machine tool is large. The workpiece is accessible and the workspace description is close to that of a conventional machine.

Another unique program is the CNC Gantry-type virtual axis machine developed jointly by Tsinghua University and Jiangdong Machine Tool Plant in 2001. The machine is composed of a flat 3-degree-of-freedom parallel mechanism, 3 gantry and movable. The workbench is composed of three-degree-of-freedom parallel mechanism to realize the two-dimensional translation and dimensional oscillation of the tool, and the movement of the table in the direction of the table is realized to realize the four-coordinate feed motion between the tool and the workpiece.

3 parallel machine tool should look forward to Germany, Gart 1 material manufacturing equipment control technology fees, currently there are few manufacturers in the world have fixed-type product machine tools to start selling, but through the joint efforts of many researchers at home and abroad, Considerable progress has been made in the practical application of such machine tools.

For example, the TRICEPT of the Swedish NEOS Robotics Company has already drilled and milled the car-in-one bumper in the world-famous aircraft and engineering machinery companies, such as the unit of 15 Ding 1 and 1 training 600, 4 no.

It is undeniable that although in theory, the superiority of parallel machine tools is obvious, there is still a long and arduous journey to be truly mature and practical. Look at the situation before. There are still some key technologies that need to be improved to solve them. Shan Yu has no effect, real-time detection of the pose information of the parallel platform dynamic platform, so it is impossible to achieve full closed-loop control of the dynamic platform directly. Although accuracy can be improved by precision design and kinematic calibration, there is still a large gap compared to conventional machine tools. Therefore, from the aspects of control sensing detection, etc., the method of realizing full-closed control of the moving platform directly is to solve the key basic components of the parallel machine tool for solving the critical basic components of the parallel machine tool, including the high speed 体积 of the power volume ratio. Spindle unit speed high performance linear motor precision lead screw along the nine pairs as well as high viscosity, high stiffness corner; ball hinges. At present, some foreign professional factories have developed some products, but there are still 3.3 related parallel mechanism theory. The system method of conceptual design is established to configure the space and attitude space; the singular configuration analysis of the branch is a practical method involving collision checking; the dynamic modeling and the dynamic design method of the whole machine.

3.4 Considering the characteristics of parallel machine tools The essential difference between parallel machine tools and traditional machine tools is that the motion of the moving platform in Cartesian space is a nonlinear mapping of joint space servo motion, also known as virtual real mapping. When performing position control, the position reversal model must be converted into a control command of the servo system by the position inverse model, and the parallel mechanism is driven to realize the singer movement of the tool. Flash this. The corresponding numerical control system should be developed for these characteristics of parallel machine tools. The digital system with open architecture in the network environment is ideal for parallel parallel machine tools.

3.5 Parallel Machine Tool Performance Evaluation Due to the essential difference between kinematics of parallel machine tools and traditional machine tools, the performance evaluation standards of traditional machine tools are difficult to fully and accurately reflect the performance characteristics of the machine tools. therefore. Performance evaluation criteria for the characteristics of parallel machine tools should be determined.

While researching and solving the above problems, it is possible to simultaneously develop and apply parallel machine tools. According to the current status quo, it is possible to find an application field that can be solved by a parallel machine tool by finding a traditional method that is difficult to solve in several ways. For example, use strong. 1 mating latch assembly and similar 4 can be used to form a system with a number of parallel machine units for a number of large extra large parts or the whole machine into a variety of processing; some tasks can also be done in the traditional way. Parallel parallel machines can be done better and more economically. For example, using a grinding wheel to form a milling cutter to burr the lead angle drilling oil hole; when the processing object is a wood plastic aluminum material and other free cutting materials, and the processing accuracy requirements are not particularly high, parallel machine tools can be considered; although the parallel machine tool is temporarily difficult to achieve the product tradition Machine tool machine.

4 Conclusion The development of traditional machine tools has been hundreds of years old, and the emergence of parallel machine tools is only a few years, and it is expected that the parallel machine tools can be solved in a short period of time. The series of difficulties in practice and practice is unrealistic; In the development process of parallel machine tools, it is considered that there is no future for parallel machine tools. It is difficult to finally go to the market. Research on the bidirectional conversion technology of data from 0 and 38 Hao Ping Lu Baoji 21. Zhejiang 1 industry eye cutting age, aviation deletion 1452. Shaoxing, Zhejiang The Thorn Steel Plant, Zhejiang Shaoxing 312000, changed the technology of the technology, and explored the realization of the two-way conversion technology with 13 and 1 data information and programming technology. 1 Introduction 013 has the function of Zhang Daqiu and the ability to handle sagittal shape. Previously, it has been widely planned to design mechanical design and urban planning in the industry. Especially in the past few years, and the development of related technologies, t-recognition of the degree of integration between its technology and deepening the mutual conversion and invocation of data formats, into and out, has become the basis for the integration of various application software systems. On the basis of its traditional application, the tax technology is complemented by data, symbols, and traditional machine tools. Through continuous research and development on more occasions, on behalf of traditional machine tools, it is also possible to develop parallel machine tools. After the Kezhong should be fully absorbed. Take advantage of proven technology in traditional machine tools. structure type. It is also because of the parallel machine tool still faces many 3 1 Wang Jinsong. Huang Tian. And online beam machine tools, the industry is facing opportunities with 71 Huang Tian, ​​Ni Yan Ben Wang Yang and so on. 388 parallel machine tool kinematics design Wang Zhixing, Li Jiansheng. Type 1 parallel machine tool. Manufacturing technology and machine tools Cai Guangqi, Dai Ju, Hu Ming and so on. The development of robotic leg grinding machine tools. Manufacturing Technology and Machine Tools, 1991046.

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