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需微要信 swan165 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 内蒙古工业大学本科毕业设计说明书

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

内蒙古工业大学本科毕业设计说明书

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

内蒙古工业大学本科毕业设计说明书

目 录

第一章 绪论 ........................................................................................................................ 1

1.1 课题的研究背景 ........................................................................................................... 1

1.2 课题研究的意义 ........................................................................................................... 2

1.3 课题的研究内容步骤 ................................................................................................. 2

1.3.1并联机构介绍 .................................................................................................... 3

1.3.2并联机床设计类型的选定 ................................................................................ 3

1.3.3 并联机床结构设计的相关计算 ..................................................................... 4

1.3.4 各零部件与装配图的设计出图 ....................................................................... 4

第二章 并联机床部件设计与计算 ..................................................................................... 6

2.1 6-THRT 伸缩式并联机床位置逆解计算与分析 ....................................................... 6

2.1.1 6-THRT并联机器人机械结构简介 ................................................................ 7

2.1.2坐标系的建立 .................................................................................................... 7

2.1.3 初始条件的确立 ............................................................................................... 8

2.1.4 空间变换矩阵的求解 ....................................................................................... 9

2.1.5 新坐标及各轴滑块移动量的计算 ................................................................. 10

2.2 滚珠丝杠螺母副的计算与选型 ................................................................................. 12

2.2.1 最大工作载荷的计算 ..................................................................................... 12

2.2.2 最大动载荷的计算 ......................................................................................... 13

2.2.3 规格型号的初选 ............................................................................................. 13

2.2.4 传动效率的计算 ............................................................................................. 13

2.2.5 刚度的验算 ..................................................................................................... 14

2.2.6 稳定性的校验 ................................................................................................. 15

2.3 滚动轴承的选用 ......................................................................................................... 15

2.3.1 基本额定载荷 ................................................................................................. 15

2.3.2 滚动轴承的选择 ............................................................................................. 16

2.3.3 轴承的校核 ................................................................................................... 16

2.4 步进电动机的计算与选型 ......................................................................................... 17

2.4.1 步进电机转轴上总转动惯量的计算 ............................................................. 17

2.4.2 步进电机转轴上等效负载转矩的计算 ......................................................... 18

2.4.3 步进电动机尺寸 ............................................................................................. 21

2.5 联轴器的选用 ............................................................................................................. 21

第三章 并联机床的结构设计 ............................................................................................ 23

3.1 机床中的并联机构 ..................................................................................................... 23

3.1.1概念设计 .......................................................................................................... 23

3.1.2运动学设计 ...................................................................................................... 23

3.2杆件的配置 .................................................................................................................. 23

3.2.1 杆件设计 ......................................................................................................... 24

3.2.2 伸缩套筒 ......................................................................................................... 25

3.3铰链的设计（虎克铰） .............................................................................................. 25

3.4机床框架和床身的设计 .............................................................................................. 26

第四章 并联机床的装配出图 ............................................................................................ 28

4.1 Pro/E软件的概述 ...................................................................................................... 28