摘要
传统的数控并联机床在工作过程中受到杆长、运动副转角、连杆干涉等的约束,致使其工作空间相对比较小;以三自由度并联机构为研究对象,建立该机构的运动学反解,得出机构的工作空间对称分布于定平台的两侧,扩大了该并联机床的工作空间,并计算在冗余自由度下、铰接处偏置以及构型变异后的工作空间。
The traditional CNC machine tools are limited by the rod length, movement, vice comer, connecting rod interference and other constraints in their parallel operation, ao that the working space is relatively small ,This paper takes a three-DOF parallel mecha- nism, as object of study to establish the mechanism＇s kinematics negative solution and comes to the mechanism work space symmet- ric distribution on both sides of the fixed platform,so as to expand the workspace of parallel mechanism and calculate the workspace of the redundant degrees of freedom, the bias at hinged position and structure variation.
出处
《机械制造与自动化》
2013年第5期150-152,173,共4页
Machine Building & Automation
基金
江苏省科技支撑计划项目(BE2011193)
关键词
并联机构
运动学反解
工作空间
冗余自由度
偏置
构型变异
parallel mechanism
kinematicsnegative solution
workspace
redundant degree of freedom
bias
configuration variation
