中文摘要：

为较好地保证机床动力学特性和在复杂曲面加工过程中有较好的加工精度,基于机构运动和受力规律,针对设计的3并联2串联混合型数控机床进行动力学耦合问题研究。提出了一种联合应用凯恩方程及拉格朗日方程的动力学解耦方法。建立了机床串联及并联部分完整的动力学耦合模型并确定了耦合因素。进行了复杂曲面零件的动力学耦合仿真,仿真结果表明：建立的动力学耦合模型是正确且可行的,符合运动学及受力规律。进行了复杂曲面零件的切削加工实验,机床运行平稳且速度较快,无较大奇异位置及耦合误差。表面粗糙度结果反映了机床的运动精度,干涉条纹证明了机床受力均匀。实验结果表明理论分析正确,该研究方法和过程不仅能够真实、主动和有效地解决机床动力学耦合问题,而且可为后续机床精确伺服控制提供基础。

英文摘要：

The dynamics coupling problem for the self designed ＂3 parallels∪2 series＂mixed type NC machine tool was studied based on the kinematics and force rule of mechanism in order to ensure that the machine can have good dynamics characteristics and high quality of parts during the process of machining complex surface. A method based on Kane and Lagrange was put forward. A whole dynamics coupling model of serial and parallel mechanism was established and the coupling factors were determined. The process of machining complex part and the force of machine tool were dynamically simulated. The simulation results showed that the established dynamics model was credible and reliable, and in accordance with dynamics rules of the force and kinematics relations. The experiment was made to cut complex surface parts and the machine tool run smoothly with fast speed. There was no large singular position and coupling error. The surface roughness results showed the kinematics accuracy of the machine tool and interference fringe proved the force uniform of machine tool. As there was no singular coupled vibration and collision,it was proved that the theoretical analysis was correct. The method and process can solve dynamics coupling problem actively,real-timely and effectively of 3PTT-2R NC machine tool,and lay a foundation for accurate control of NC machine tools.