六自由度并联机构设计说明书

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本科毕业设计说明书

学校代码： 10128 企鹅号： 1663714557 题 目：六自由度伸缩式并联机床结构设计 学生姓名： 学 院：机械学院 系 别：机械系 专 业：机械电子工程 班 级：机电10-4班 指导教师：讲师

摘红字要

并联系联机微床信，也可叫获取做整套并联结构机床(Parallel Structured Machine Tools)、虚拟轴机床(Virtual Axis Machine Tools)，曾经被称为六条腿机床、六足虫(Hexapods)。并联机床是近年来国内外机床研究的方向，它具有多自由度、刚度高、精度高、传动链短、制造成本低等优点。但其也不足之处，其中位置正解复杂就是关键的一条。6-THRT伸缩式并联机床是Stewart 机床的一种变形结构形式，它主要构成是运动和静止的两个平台上的6个关节点分别分布在同一个平面上，且构成的形状相似。

并联机床是一种气动机械，集气（液），在一个典型的机电一体化设备的控制技术，它是很容易实现“六轴联动”，在第二十一世纪将成为主要的高速数控加工设备。本次毕业设计题目结合本院实验室现有的六自由度并联机床机构进行设计，使其能根据工艺要求进行加工。提高学生的工程素质、创新能力、综合实践及应用能力。

此次毕业设计的主要内容是对并联机床结构设计，其内容主要包括机器人结构设计总体方案的确定，机器人机构设计的相关计算，以及滚珠丝杠螺母副、步进电机、滚动轴承、联轴器等主要零部件的计算选用，并利用CAXA软件绘制各相关零部件的零件图和总装配图，以期达到能直观看出并联机床实体机构的效果。

关键词：并联机床；步进电动机；空间变换矩阵；滚珠丝杠螺母副

Abstract

PMT (Parallel Machine Tools), also known as the parallel structure machine (Parallel Structured Machine Tools), Virtual Axis Machine Tool, has also been known as the six-legged machine, six-legged insects (Hexapods).Parallel machine is in recent years the domestic machine tool research hot spot, it has multiple degrees of freedom, high rigidity, high precision, short transmission chain, with low manufacturing cost.But its shortcomings, in which the forward solution of position of a complex is the key. 6-THRT telescopic type parallel machine tool is Stewart machine tools, a deformable structure form, it is the main characteristics of dynamic, static platform on the 6joints are respectively distributed on the same plane, and form the shape similarity.

Parallel machine is a mechanical, pneumatic (hydraulic), control technology in one of the typical electrical and mechanical integration equipment. Parallel machine is easy to achieve "six-axis", is expected to become the 21st century, the main high-speed light CNC machining equipment. The combination of hospital laboratory construction project, located six-DOF parallel machine tool sector, so that it can be processed according to process requirements. Improve their engineering quality, innovation, comprehensive practice and application of skills.

The main topics for the design of parallel machine tool design, its content includes the determination of robot design, robot design and calculation, and the ball screw pair, stepping motor, bearings, couplings, limit switch, spindle ,and other major components using CAXA software to draw the relevant parts of the parts drawings, and assembly drawings to achieve the parallel machine tool can directly see the effect of physical bodies.

Keywords: parallel machine；Six axis linkage；space transformation matrix；ball screw pair