双转台机床后置处理研究

王 雪晴, 王艳 红*
沈阳工业大学

摘要

针对双转台五轴机床，考虑到五轴机床在加工过程中出现关节平行而导致奇异矩阵等问题，结合机床部件之间的运
动关系以及结构特性，提出一种基于改进的 D-H 建模法的运动学求解机制。首先说明了改进的 D-H(Denavit-Hartenberg)法坐
标系建立方法，并增加了标准 D-H 法的参数，其次给出了改进的 D-H 法齐次坐标转换矩阵表达式，推导出正运动学模型。
最后求得运动学逆解，给出旋转轴以及平动轴的位姿计算表达式。对义齿刀位轨迹进行后置处理，并通过 VERICUT 软件进
行仿真实验，验证后置处理方法的可行性。

关键词

后置处理；改进的 D-H 法；齐次坐标变换；五轴数控机床

参考

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