基于D-H变换矩阵的Stewart型并联机床位姿方程及运动学反解

Posture equation and dynamics reverse solution of Stewart typed parallel machine tools based on D-H transformation matrix

以D-H变换矩阵为建模工具,建立了包含铰链结构、支链类型、铰座安装位姿、杆件结构尺寸和运动参数等各类几何特征信息的6自由度并联机床的通用位姿方程,并进行了运动学反解。得到了以显式表达的主、从动关节运动参量计算公式。

Taking the D - H transformation matrix as the modelling tool, the all-purposed posture equation of the 6 DOF parallel machine tools with information of various geometric characteristics that includes the hinge structure, types of branch chain, installation posture of hinged support, structural dimensions of rod piece and kinematic parameters etc. was established. The kinematics reverse solution has been carried out, and thus obtained the calculation formula of the driving and driven joints kinematic parameters.