五杆并联机床标定方法及控制精度地研究

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1、西安理工大学硕士学位论文II西安理工大学硕士学位论文Accordingtothepositivesolutionoftheequationthattheendactuatoroutputsandthroughthederivationofthemachine’sgeometricparameters,theerrormodelofthemachine’sendoutputlocationwasgotten.Andthen,bymeasuringtheactualcoordinatesoftheenda

2、ctuatorinadifferentpositionandthroughtheinitialpositionofthecalibrationresults,theactualerrorvaluesforeachpositionwereobtained,moreover,thekinematiccalibrationofthemachinegeometricparameterswasachievedbytheerrormodel,andthecorrespondingparametersofthema

3、chinecontrolprogramwerecorrectedbyusingtheerrorcompensationtoimprovetherunningaccuracyofthemachine.Inthisarticle,thehardwarecomposition,softwarestructureandcontrolparametersofthefive-barparallelmachinetools’servocontrolsystemwereintroduced,inaddition,th

4、efive-barparallelmachinetools’PIDcontrolsimulationmodelwasestablishedandtheinfluencelawthatthePIDcontrolparameterstothetwodrive-rodsandtheendactuator’sstepresponsecharacteristicswasstudiesbyusingMATLAB/SumlinktogettheoptimizedPIDparameters.Andalso,atraj

5、ectorycontrolexperimentalsystemwasbuilttostudytheinfluenceofservogainparametersandPIDcontrolparametersofcontrolsystemtothepositioncontroleffect.Atlast,thedevelopment,debuggingandmodificationofthecontrolinterfacewerecompletedandthetrajectorycontrolrunnin

6、gexperimentswereconducted,togetabetterresult.Keywords:Five-barparallelmachinetoolKinematiccalibrationErrorcompensationPIDcontrolIV目录目录1绪论....................................................................................................................

7、.......................11.1选题背景和意义.............................................................................................................11.2并联机床的研究现状和发展趋势.................................................................................11.2.1并联机床的

8、研究现状...........................................................................................11.2.2并联机床的发展趋势...........................................................................................41.3并联机床精度分析方法研究现状..........