关键词: 车铣零件, 运动学特征分析, 成形函数矩阵, 齐次坐标变换, D-H修正标记法

Abstract: To determine the tool position relative to the workpiece in machining of typical turn-mill parts,an analysis method for kinematics characteristic of typical turn-mill parts machining was presented.Based on analyzing the configuration of the turn-mill machine tool,the kinematics chain was determined,and the kinematics model was found according to the modified D-H notation.The form-shaping function matrixes were derived based on forward kinematics and inverse kinematics.Through the transformation of homogeneous coordinates,the tool position relative to the workpiece in different feature machining of turn-mill parts was described,and the kinematics functions of each axis were obtained by combining with the form-shaping function matrixes.Thus,the kinematics characteristic in turn-mill machining was analyzed by proposed function.Through an example of kinematics characteristic analysis of non-coaxial turn-mill part,the effectiveness of this methodology was proved to analyze the tool position relative to the workpiece and the movement of each axis in turn-mill machining.

Key words: turn-mill parts, kinematics characteristic analysis, form-shaping function matrixes, homogeneous coordinate transformation, modified D-H notation