基于Stewart平台虚轴机床运动学研究

Research on Kinetics of Imaginary Axle Machine Tool Based on Stewart Platform

以Stewart平台机构为基础 ,将 6杆 6自由度的Stewart平台机构演变成 3杆 3自由度的Stewart平台的简化形式 ,并将该机构与机床结构相结合 ,建立了 3自由度虚轴机床的结构模型。运用机构运动学与数学理论 ,建立了虚轴机床运动学方程 ,分析了机构结构参数对机床作业空间的影响 ,并通过计算机仿真画出了各影响因素与作业空间的关系曲线。对虚轴机床的活动平台在空间运动时关节摆角的变化规律进行了研究。为了从理论上进一步验证虚轴机床作业空间的分析结果 ,运用Matlab软件对虚轴机床的作业空间进行了计算仿真。从而 ,确定了该虚轴机床在空间中X、Y、Z三个方向的运动范围。为在机床领域合理利用机器人技术作了基础研究工作。

Based on Stwart platform mechanism, Stewart platform mechanism with six rods and six degrees of freedom is evolved into Stewart platform with three rods and three degrees of freedom,it is a simplifed form of Stewart platform. Combining this mechanism with machine tool mechanism, imaginary axle machine tool construction model with three degrees of freedom is established according to theory of kinetics and mathematics, a kinetics equation is set up, the influence of mechanism construction parameters for working space of machine tool is analyzed. Relation curves of every influence factor for working space of machine tool are drawn by computer simulation. Change regularity of joint swing angle is studied when movable platform moves in space. In order to test and verify analytical result of imaginary axle machine tool on theory, matlab software is applied to simulate working space of imaginary axle machine tool. Thus, the range of movement of the imaginary axle machine tool in X, Y, Z three directions is determined in space. Fundamental research work is done to utilize robotology in the domain of machine tool.