THIẾT KẾ TỐI ƯU CƠ CẤU PKM ỨNG DỤNG TRÊN MÁY CÔNG CỤ LAI=OPTIMIZED DESIGN OF PKM STRUCTURE FOR APPLICATION ON HYBRID MACHINE TOOLS

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Tác giả: Hữu Hùng Lê, Thành Long Phạm

Ngôn ngữ: vie

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Thông tin xuất bản: Tạp chí Khoa học và Công nghệ - Đại học Thái Nguyên, 2024

Mô tả vật lý: tr.87 - 94

Bộ sưu tập: Metadata

ID: 484520

Thêm vào giỏ

Với các hệ thống CAD/CAM hiện đại người ta có thể nâng cao năng lực gia công lên rất nhiều. Các nỗ lực thiết kế được giữ nguyên nếu máy công cụ CNC có thể đáp ứng được các chuyển động tạo hình không gian phức tạp. Vì cần có độ khéo léo và hệ số truyền lực/ vận tốc tốt trên toàn bộ không gian công tác, máy công cụ ngày nay có cấu trúc động học rất gần với robot, nhất là các cơ cấu song song kiểu PKM (Parallel Kinematic Mechanism). Bài báo này trình bày một phương pháp thiết kế tối ưu cơ cấu PKM trên cơ sở phương pháp Atlas cải tiến. Việc sử dụng hai không gian thiết kế có thứ nguyên và không có thứ nguyên kết hợp với kỹ thuật trải phổ tối ưu cho phép xác định các kích thước đặc trưng của cơ cấu. Do bài toán đa mục tiêu lấy các chỉ tiêu chất lượng là hệ số truyền lực/ vận tốc nên cơ cấu nhận được sau đó dù có vùng làm việc nhỏ hẹp đặc trưng của robot song song nhưng lại có năng lực về động học vượt trội so với các phương án khác. Phương pháp thiết kế này có tiềm năng ứng dụng cho cả các thiết kế đòi hỏi tỉ suất chuyển đổi lực/ vận tốc cần tối ưu đồng thời với hệ số truyền trên cơ sở góc áp lực khi thiết kế các cơ cấu song song phức tạp.With modern CAD/CAM systems, one can greatly improve machining capacity. Design efforts are kept intact if CNC machine tools can accommodate complex spatial shaping movements. Because of the need for dexterity and good force/velocity transmission coefficients throughout the entire working space, today's machine tools have a kinematic structure very close to robots, especially parallel mechanisms of the PKM (Parallel Kinematic Mechanism). This article presents an optimal design method for the PKM structure based on the improved Atlas method. The use of two dimensional and non-dimensional design spaces combined with the optimal spread spectrum technique allows determining the characteristic dimensions of the structure. Because the multi-objective problem takes the quality criteria as force/velocity transmission coefficient, the resulting structure, despite having a small working area typical of a parallel robot, has outstanding kinematic capabilities compared to other options. This design method has the potential to be applied to designs that require the force/velocity conversion ratio to be optimized at the same time as the transmission coefficient based on the pressure angle when designing complex parallel mechanisms.

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