厦门大学学报（自然科学版）2011，Vol.50Issue(3)：553-558,6.
三轴可调倾角非球面加工夹具运动学分析
Kinematics Analysis for a 3-axis CNC Clamp with Adjustable Gradient
摘要
Abstract
3-axis CNC clamp with adjustable gradient can eliminate the error which caused by the twice clamping of workpiece and improve the quality and efficiency of wedge-shaped aspheric surface machining. In order to control the obliquity and pose of workbench surfaces accurately,the method of setting the clamp's coordinate system has been put forward according to the theory of a robot's 3-DOF mechanical arm. The equations of kinematics and Jacobi matrix for the clamp are solved base on the coordinate system.The relation of position,orientarion and velocity between workbench surfaces and each motive joint are presented. Then comparing with the analysis result of theory and ADAMS simulation by some examples,and the final result is obtained. The theoretical basis of program design for control system of the clamp is provided, which made the clamp move in accordance with the requirements of machining.关键词
楔形非球面夹具/机械手臂/运动学分析/ADAMS仿真Key words
wedge-shaped aspheric surface clamp/ mechamcal arm / kinematics analysis / ADAMS simulation分类
信息技术与安全科学引用本文复制引用
张世汉,郭隐彪,柯晓龙,姜晨..三轴可调倾角非球面加工夹具运动学分析[J].厦门大学学报（自然科学版）,2011,50(3):553-558,6.基金项目
国家高技术研究发展计划(863)项目(2008AA042501) （863）
国家自然科学基金项目(50905150) （50905150）
