Abstract: The present invention discloses a post-processing method for a special seven-five axis linkage machine tool, comprising: building a multi-body kinematic model according to the structure of the machine tool, and building the multi-body kinematic model according to the sequence of workpiece-turntable-machine tool-cross beam-ram-milling head-cutting tool; establishing position coordinate transformation matrices according to the built multi-body kinematic model to obtain the matrices of cutter location points and tool orientation vectors; solving transformation equations of every motion axis of the machine tool and cutter location point coordinates according to the matrices of cutter location points and tool orientation vectors; building a corresponding relationship between the cutter location point coordinates and every motion axis of the machine tool based on a geometric level, and solving specific values of C-axis rotation angle of milling head and C2-axis rotation angle of the turntable.

Abstract: The present invention discloses a post-processing method for a special seven-five axis linkage machine tool, comprising: building a multi-body kinematic model according to the structure of the machine tool, and building the multi-body kinematic model according to the sequence of workpiece-turntable-machine tool-cross beam-ram-milling head-cutting tool; establishing position coordinate transformation matrices according to the built multi-body kinematic model to obtain the matrices of cutter location points and tool orientation vectors; solving transformation equations of every motion axis of the machine tool and cutter location point coordinates according to the matrices of cutter location points and tool orientation vectors; building a corresponding relationship between the cutter location point coordinates and every motion axis of the machine tool based on a geometric level, and solving specific values of C-axis rotation angle of milling head and C2-axis rotation angle of the turntable.

Abstract: The invention discloses a detection method for radial deformation of flexspline of harmonic reducer under installation eccentricity state, taking the center of wave generator as the origin, the reference coordinate system is established in the method, and the offset between the center of wave generator and the pivotal center of rotary table is calculated by measuring the standard circle coaxial with the wave generator; the radial deformation function and the offset of wave generator under eccentricity state are taken to the theoretical ellipse eccentricity mathematical model to obtain the parameters of the actual ellipse; the offset and ellipse parameters are taken into the radial runout correction model of the flexspline to obtain the correction model under eccentricity state; the flexspline deformation function is measured and the correction model is taken to obtain the radial deformation function of the flexspline under standard state.

Abstract: The present disclosure discloses a detecting device and method for acoustic emission on high-frequency motion rubbing pair surface. A linear reciprocating slide system with high efficiency and high conductivity is designed based on the method. Reciprocating linear slide system is the main structure of the detection device which is is composed of probe plate, tight clips, vacuum cover, slip wire and insulation box. The reciprocating slide solves the problem of data distortion caused by high frequency jitter when connecting ordinary data lines, and can realize stable and reliable connection between high frequency reciprocating rubbing experiment and acoustic emission detection equipment. The acoustic emission probe on the surface of rubbing pair connects with the preamplifier by linear reciprocating slide.

Abstract: The present disclosure discloses a detecting device and method for acoustic emission on high-frequency motion rubbing pair surface. A linear reciprocating slide system with high efficiency and high conductivity is designed based on the method. Reciprocating linear slide system is the main structure of the detection device which is is composed of probe plate, tight clips, vacuum cover, slip wire and insulation box. The reciprocating slide solves the problem of data distortion caused by high frequency jitter when connecting ordinary data lines, and can realize stable and reliable connection between high frequency reciprocating rubbing experiment and acoustic emission detection equipment. The acoustic emission probe on the surface of rubbing pair connects with the preamplifier by linear reciprocating slide.

Abstract: The invention discloses a trajectory planning method for six degree-of-freedom robots taking into account of end effector motion error. Specifically, the invention disclosed a method for precise planning of robot end effector continuous trajectory by combining the screw theory, the cubic spline interpolation algorithm, and particle swarm optimization algorithm.