Kinematic Modelling and Control Simulation for 1PS+3TPS Type Hybrid Machine Tool

作     者：FAN Shouwen,WANG Xiaobing,HUANG Hongzhong (School of Electro-Mechanical Engineering,University of Electronic Science and Technology of China,Chengdu 610054,China) FAN Shouwen,WANG Xiaobing,HUANG Hongzhong (School of Electro-Mechanical Engineering,University of Electronic Science and Technology of China,Chengdu 610054,China)

作者机构：School of Electro-Mechanical EngineeringUniversity of Electronic Science andTechnology of ChinaChengdu 610054China 

出 版 物：《武汉理工大学学报》 (Journal of Wuhan University of Technology)

年 卷 期：2006年第28卷第S1期

页      面：181-185页

学科分类：08[工学] 0802[工学-机械工程] 080201[工学-机械制造及其自动化] 

主　　题：hybrid machine tool kinematics analysis PID control fuzzy control 

摘      要：A structure scheme for a novel hybrid machine tool (HMT) is proposed in this paper. In the scheme,a 4-DOFs 1PS+3TPS type spatial hybrid mechanism is utilized as main feed mechanism,with assistance of a two direction movable worktable,multi-coordinates NC machining can be realized. In the main feed mechanism,fixed platform is connected with moving platform by three TPS driving links and one PS driving link,one translation DOF and three rotation DOFs can be achieved by it. This type HMT enjoys some advantages over its conventional counterparts:large workspace,good dexterity,etc. Closed form inverse displacement analysis model and inverse kinematic model for main feed mechanism are established. A fuzzy PID control scheme for machining control of HMTs with high tracking precision is proposed aiming at highly nonlinear,tightly coupled and uncertain characteristic of HMTs. Simulation researches for fuzzy PID control of HMTs are carried out. Simulation Results demonstrate the effectiveness and the Robostness of the fuzzy PID controller.