关键词: 干涉校验, 工作空间快速校验, 混联机床, 六维力传感器 柔度矩阵 刚度建模 力映射 有限元

Abstract: The 7-axis parallel-serial machine tool has an advan- tage over the 6-axis parallel machine tool when processing workpieces with complicated surfaces. It can complete multi- surfaces cutting process rapidly , reduce the cutting error caus- ed by frequent workpiece installation and shorten the machin- ing time. The algorithms of 7-axis parallel-serial machice tool mechanism interfere calibration and fast verification of works- pace are introduced detailedly, in order to avoid the interfere- nces and ensure the workpiece in the workspace during the cutting operation. The algorithms are useful to the design and control system of the parallel-serial machine tool.

Key words: Interfere calibration Fast verification of workspace, Parallel-serial machine tool, Six-axis force/torque sensor Compliance matrix Stiffness modeling Force mapping Finite element