刘小娟

摘要：传统的雕刻机构件间以串联方式联接，串联机构的优点为机构的工作空间较大、机构的运动链较为简单以及控制简单等。存在机构的整体刚度较低、承载能力较小、运动惯量大、机构的运动误差积累进而造成输出末端的精度低等弊端。机构杆件间以并联式联接，其与串联机构在运动学求解、动力学研究以及控制等方面存在较大的差异，且其理论基础已经基本成熟，具有广阔的研究前景。而三维雕刻机的研制已成为发展趋势，研究并串混联式雕刻机正弥补了传统串联式雕刻机的缺点，可满足三维雕刻机性能稳定、机构简单、价格低的研制要求。

关键词：并联机构;三维;雕刻机

Abstract： The traditional carving mechanism is connected by series connection， which is characterized by large working space， simple movement chain and simple control. There are drawbacks such as low overall stiffness， small bearing capacity， large inertia， and low precision of the output end due to the accumulation of motion errors. The mechanism is connected by parallel connection， which is quite different from the series mechanism in the aspects of kinematics solution， dynamics research and control， etc. Moreover， its theoretical basis has been basically mature and has a broad research prospect. And the development of 3D engraving machine has become a development trend， the research and the tandem engraving machine is making up for the shortcomings of the traditional tandem engraving machine， which can meet the development requirements of stable performance， simple mechanism and low price of 3D engraving machine.

Key words： parallel mechanism;the three dimensional;engraving machine

0  引言

随着微电子技术的迅速发展，微型计算机得到飞速的发展，其发展带动整个高技术群体快速向前发展，使雕刻机发生了质的飞跃。90年代至今，机械雕刻产生了前所未有的发展。由二维的刻字机，刻章机再到三维雕刻机，实现了2D到2.5D 再到 3D 快速的变革，制作工艺逐渐趋于成熟，应用范围由小型的商店招牌，大到楼房建筑的装饰，以及产品的标识铭牌，雕刻的使用是无处不在。目前我国应用较多有两类雕刻机[1-3]：一类是人工通过手动双摇臂机构的仿形摇臂雕刻机，是由操作者手握仿形头在模型上运动。存在的问题是需要制作雕刻模型，且采用的是串联机构则机床刚度较低，主轴的功率也较小（约几十瓦），加工精度低，仅适用于雕刻的加工切削力较小、精度较低的场合。……