一种并联激光加工机床的运动学及工作空间研究

Kinematics and Workspace Analysis of a Laser Manipulator Based on Parallel Structure

提出了一种基于并联机构的三平移并联激光加工机床,介绍了机床的组成部分,并进行了自由度求解。通过位置分析,建立杆长约束方程,得到了运动学逆解方程。应用Pro/E与Adams软件建立并联机床的数字化虚拟样机,定义动平台运动轨迹函数,进行了运动学仿真。通过仿真分析,得到了当激光加工头匀速加工情况下的驱动滑块的位移、速度、加速度曲线,并比较了滑块速度输入与动平台速度输出之间关系。最后对机床的工作空间进行了分析,得出工作空间大且无空洞的结论。上述工作,可为并联机床的设计与加工提供理论依据。

A laser manipulator based on three-degree-of-freedom parallel structure is proposed in this paper,in which the composition is introduced and the DOF is solved.By analyzing the position,the constraint equation of the rods length is established and the inverse kinematics equation is obtained.With the softwares of Pro/E and Adams,a virtual prototype is created.Then the trajectory function of the moving platform is defined,and kinematics simulation is carried out.Through simulating and analyzing,the Kinematics curves of driving sliders,such as displacement,speed and acceleration are got in the case of the laser tooling point going with the constant speed.At the same time the relationships between speed input of sliders and speed output of moving platform are compared.Finally,the work space is also analyzed to come to a conclusion that the work space is large and void free.The work all above provides a theoretical basis for designing the parallel machine tool.