基于虚拟样机技术的虚拟轴机床工作空间研究

Workspace Analysis of Parallel Manipulator Based on Virtual Prototyping Technology

提出了一种利用虚拟样机技术求取虚拟轴机床工作空间的简单实用方法,并且利用该方法得到了三立柱分层式6UPS型虚拟轴机床的位置工作空间。在已知尺度参数和关节变量变化范围的条件下,先对位置工作空间作y轴方向的离散分层处理,然后在xOz平面中进行角度离散处理,利用虚拟样机的Sensor技术,把所有影响位置工作空间的约束条件转换成Sensor,通过运动学分析求得约束起作用的工作空间边界点数据,通过Matlab工具软件描绘出三维位置工作空间。

A new method based on virtual prototyping （VP） technology was introduced to analyze the workspace of a tri-support layered 6 -UPS parallel manipulator, where U denoted a universal kinematic pair, P denoted a prismatic kinematic pair, and S denoted a spherical kinematic pair. A virtual prototype model of the 6 -UPS parallel manipulator was built with a multi-rigid-body simulation software ADAMS. By using VP model in ADAMS, the way to study the position workspace and to obtain the points on workspace boundary was described. The boundary data were then processed with Matlab to generate a 3-D display for the workspace. The method presented could simplify the computational process in workspace analysis and could be applied to any section of the workspace. The ideas and the analysis results might be used for reference.