連續路徑輪廓控制在3RPS平行式工具機上的發展及實驗

Abstract

連續路徑軌跡追蹤在正交工具機上已經有相當成熟的發展，但是對非正交工具機，到目前為止，仍未有相同的發展。 本論文係針對3RPS並聯式工具機，發展出連續路徑追蹤上的輪廓誤差補償與預補償系統。本文針對此3RPS工具機，提出完整的系統架構，分別用牛頓法與虛工法建立動力方程式，並比較兩者在模擬演算上的執行速度。本文所構建的交叉偶合系統，與交叉偶合預補償系統，經多種軌跡測試，證明可行。 最後本文以實驗驗證所建立的交叉偶合系統與交叉偶合預補償系統，由實驗可知，本文所發展的系統，在該實驗用3RPS並聯式工具機上，具有成效。

Continuous trajectory tracking has been well developed on machine tools of orthogonal nature. For non-orthogonally structured machine tools there is no comparable development. This study developed continuous trajectory cross-coupled contour tracking system, and contour tracking system with pre-compensation for 3RPS parallel machine tool. System structure is first constructed. Dynamic equations are derived by Newton’s method and by virtual work principle. A comparison of execution performance between systems from the two methods is performed. The constructed cross-coupled contour tracking system and the system with pre-compensation are evaluated by different types of trajectory. The developed systems are finally implemented on an empirical 3 RPS parallel machine tool. The empirical evaluation has shown that the developed systems are successful and effective.