五轴并联机床正解研究

Study on the direct kinematics of a five axes parallel machine tool

并联机床运动学正解问题由于涉及到求解非线性方程组问题而不易解决。首先对五轴并联机床进行运动学建模,获得了其运动学方程;然后使用连续同伦方法,对上述方程组进行求解,并获得并联机床正解。

It＇s difficult to solve the direct kinematics of a parallel machine tool （PMT）, which will deal with nonlinear function set. The kinematics functions are obtained with a kinematics modeling procedure for a five axes PMT. And with the homotopy continuation methods, these function set is solved, and the direct kinematics solutions are obtained.