基于齐次坐标转换矩阵的双旋转台机床加工空间分析

Research on Workspace of Rotary Table Machine tools based on Homogeneous Coordinate Transformation Matrix

以双旋转台机床为例,对其加工空间以齐次坐标转换理论为基础进行分析。首先以齐次坐标转换矩阵为基础,推导出双旋转工作台机床的运动学求解方程,包括平移,旋转以及平移旋转联动,然后建立双旋转工作台机床的数学模型,利用所推导的运动学方程求解出其工作空间。这种方法思路清晰,方法简便,适用范围广,只需要建立双旋转工作台机床的数学模型,给出约束条件,即可直观地求得其工作空间。

Take Rotary Table Machine tools for example, researching on the workspace based on Homogeneous Coordinate Transformation Matrix. The first, solve the kinematic equation of Rotary Table Machine tools, which include translating, rotating and linkage with translating and rotating. Then, build up the mathematic modeling of Rotary Table Machine tools, the available workspace is found by analytical method. This method is simple and clear and available to use in wide rage, with building mathematic modeling of Rotary Table Machine tools and giving some constraint conditions.