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为了解决刚体动力学模型的复杂性与控制系统的实时性之间的矛盾,对匀速运动条件下6-UPS型并联机床刚体动力学模型的简化进行了研究。首先采用Newton-Euler法建立了并联机床的刚体动力学模型,并将模型分解为15项。根据实际加工情况,通过数值仿真方法分析了并联机床的刚体动力学特性。在此基础上,提出和检验了刚体动力学模型的简化策略。采用文中提出的简化策略,逆动力学求解的效率可以提高47%～74%,引起的简化误差在-99～92N之间。
In order to solve the contradiction between the complexity of the rigid body dynamics model and the real-time performance of the control system, the simplification of the rigid body dynamics model of the 6-UPS parallel machine tool under uniform motion is studied. First, the rigid-body dynamic model of parallel machine tool is established by Newton-Euler method and the model is decomposed into 15 items. According to the actual machining situation, the rigid body dynamic characteristics of the parallel machine tool are analyzed by numerical simulation method. Based on this, a simplified strategy of rigid-body dynamic model is proposed and tested. Using the simplified strategy proposed in the paper, the efficiency of inverse kinetics can be improved by 47% -74%, and the simplified error is -99-92N.