六自由度并联运动机床奇异性研究

Singularity of a 6-DOF parallel kinematics machine tool

6-PSS并联运动机床的奇异性分析是6-PSS并联运动机床其它分析的基础,也是空间机构学分析的一个难点。本文首先解释了并联运动机床奇异性特征,通过建立6-PSS并联运动机床结构数学模型,实现了参数化设计。利用螺旋理论空间分析的优势,建立了6-PSS并联运动机床的Plücker坐标,方便地给出机床受力Jacobian矩阵,同时利用Matlab强大数学计算功能,精确的分析出并联机床的奇异性空间,降低了并联运动机床奇异分析的复杂性。

Singularity of a 6-PPS parallel kinematics machine tool is the basis for other analysis,and is also a difficult of the space agencies analysis.In this paper,we explained the singularity characteristics of the parallel kinematics machine tool,and we realized the parametric design by establishing mathematical model of the 6-PSS parallel kinematics machine tool.Based on the advantages of the theory of screws on spatial mechanism analysis,we established Plücker coordinate of the 6-PSS parallel kinematics machine tool,so that we can easily get the force Jacobian matrix.Meantime,we accurately analyzed the singularity of the parallel kinematics machine tool and reduced the complexity of analysis singularity of the parallel kinematics machine tool by using Matlab.