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Improved stiffness Modeling for An Exechon‑Like Parallel Kinematic Machine(PKM)and Its Application

Chinese Journal of Mechanical Engineering 2020年第3期33卷 130-141页

作者： Nanyan Shen Liang Geng Jing Li Fei Ye Zhuang Yu Zirui Wang Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai UniversityShanghai 200444China School of Mechatronic Engineering and Automation Shanghai UniversityShanghaiChina.

Hole drilling or contour milling for the large and complex workpieces such as automobile panels and aircraft fuselages makes a high combined demand on machining accuracy,stiffness and workspace of machining ***,a 5-DOF(degrees of freedom)parallel kinematic machine(PKM)with redundant constraints is *** on the kinematics analysis of the parallel mechanism using intermediate variables,the kinematics problems of the PKM are solved through equivalent kinematics *** structural stiffness matrix method is adopted to model the stiffness of the parallel mechanism of the PKM,where the stiffness of each joint and branch component is obtained by stiffness formula and finite element *** the stiffness model of the parallel mechanism is improved by correction coefficient matrix,each element of which is constructed as a polynomial function of three independent end variables of the parallel *** terminal stiffness matrices obtained by simulation result are used to determine the coefficients of polynomial function by least square fitting to describe the correction coefficient over the workspace of the parallel mechanism *** experiment results prove that the modification method can greatly improve the stiffness model of the parallel *** enhance the machining accuracy of the PKM,the proposed kinematics model and the improved stiffness model are utilized to optimize the working stiffness of parallel machine by searching the best relative position of parallel machine and workpiece.A plate workpiece taken as example is examined in the case study section,which demonstrates the effectiveness of optimization method.

关键词： PKM 5-DOF Equivalent kinematics model Intermediate variables stiffness correction coefficient Optimal working stiffness

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