六坐标内容式并联数控机床的活动空间

Research on Workspace of 6-DOFInternal-Form Parallel Numeral Control Machine Tool

给出了内容式并联数控机床刀具活动空间的求法；确定了机床的运动限制条件和结构限制条件；描述了刀具活动空间的形态；分析了运动参数及结构参数对活动空间形态与体积的影响．

The method of calculating cutting tool workspace is given. The kinematic and structural constraint conditions is defined. The workspace shape of cutting tool is illustrated, and the influence of konematic and structural parameters on the workspace and its volume is analyzed.