Authors: Jun Wu Jinsong Wang Tiemin Li Liping Wang
Publish Date: 2006/05/12
Volume: 34, Issue: 3-4, Pages: 413-420
Abstract
This paper focuses on the dynamic characteristics of the two degreeoffreedom DOF planar parallel manipulator of a heavy duty hybrid machine tool The NewtonEuler approach is employed to derive the inverse dynamic equation of the parallel manipulator According to the motion planning of the cutting tool dynamic simulation without cutting force is performed and the ratio of the masses of counterweights to that of moving parts not including the counterweight is optimized It demonstrates that the manipulator which is designed with over constraint can improve the dynamic behaviour Furthermore the cutting force model for face milling is introduced and the dynamic simulation with the dynamic cutting force is carried out Simulation shows that the oscillation of cutting force is one cause of the vibration of the machine tool in the milling process In the detailed design some modification in the structure of the machine tool is made to suppress the vibrationThis work is supported by the National Nature Science Foundation of China Grant No50305016 the 863 HighTech Scheme Grant No 2004AA424120 and No 2004AA424210 the “973” basic research project of China Grant No 2004CB318007 and the Scientific and Technical Essential Program Grant No 2001BA203B20
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