摘要
运用多体系统理论研究了６－ＳＰＳ型Ｓｔｅｗａｒｔ机床机构和丰田型Ｓｔｅｗａｒｔ机床机构的运动学，建立了相应的零级（位姿）和一级（速度和角速度）运动学方程，获得了两种Ｓｔｅｗａｒｔ机床机构的雅可比矩阵。运用多体系统通用分析软件对Ｓｔｅｗａｒｔ机床的运动进行了仿真计算，为后续研究等奠定良好基础。
Because of some unique advantages, the Stewart machine tool is of attracting prospects and gaining widespread concern. With the help of the theory of kinematics on multi body systems, this paper analyzes the motion of typical types of Stewart machine tool mechanisms; equations of kinematics of Zero grade, First grade are established; Jacobian matrix is derived. A general multi body analysis software package is used to calculate and simulate the motion of the Stewart machine tool.
出处
《航空学报》
EI
CAS
CSCD
北大核心
1999年第2期184-186,共3页
Acta Aeronautica et Astronautica Sinica
