Demyanenko A. The control system of spatial instrument position of parallel kinematics machine tool

The actual scientific problem of improving the accuracy of machine tools with mechanisms of parallel structure, which was achieved by using the additional control system of the current spatial position of the working body, in which the tool is mounted on definition of six-axes coordinates vector of its position in space was solved Theoretical studies are based on the provisions of theoretical mechanics, linear algebra, vector and matrix calculus, differential calculus and the experiment was conducted on the basis of existing machine-stand with special measuring tools and equipment. The kinematic dependencies, connecting power and measuring rods length in each longitudinal section were calculated with closed-loop vector method. The main provisions of the current spatial position of the working body that carries tools control system design by approximation functions including nonlinear relationship elongation power and measuring rods were developed. The special devices that form different spatial configurations to determine the accuracy of the output of the working body of the machine with the mechanisms of parallel structure were designed. According to experimental results the presence and the analysis of a transient process in each of the power rods of machine tool while changing the direction of the working body. was revealed.