基于多体系统理论的TTTR型四轴数控打磨机床空间误差分析及建模

摘要

根据多体系统理论,建立了机床空间坐标系,描述了机床部件的拓扑关系和相对运动方式,根据部件的运动形式分析了机床结构中的误差元素,最后用Denavit-Hartenberg齐次变换矩阵描述体间坐标变换矩阵.根据相邻体间变换矩阵得到了机床的空间综合误差模型,为数控机床的计算机仿真和误差补偿提供了理论依据.%Based on the multibody system theory,first,the space coordinate system of the four-axis machine tool was established,and the topological relation and the relative motion of machine tool parts were described.Second,the error elements in the structure of machine tools were analyzed according to the motion form of the components.Third,the interbody coordinate transformation matrix was described by using the Denavit-Hartenberg homogeneous transformation matrix.Finally,the spatial synthetic error model of the machine tools was obtained,which provided theoretical foundation for computer simulation and error compensation of CNC machines.