摘要
以并联机器人机构为原型的并联机床 ,其力 /运动传递各向同性性能是随其运动平台的位姿变化而变化的。本文应用并联机器人机构学理论 ,提出基于 6 -SPS并联三维平台机构的新型 6自由度并联机床的力 /运动传递各向同性性能评价指标 ,并给出这些指标在定位姿工作空间内的分布情况 ,这对该结构形式的并联机床的设计及其任务规划和控制有重要意义。
The force/motion transmission isotropic properties of a parallel kinematic machine based on parallel mechanism vary with its configuration change. By using the theory of parallel robotic mechanisms, the force/motion transmission isotropic indices of a novel 6-DOF parallel kinematic machine based on the 6-SPS parallel orthogonal three-dimensional platform mechanism are proposed. The distributions of the indices in constant-orientation workspace are presented, which is significant for the optimal design, task planning and control of the machine.
出处
《机床与液压》
北大核心
2001年第4期47-49,共3页
Machine Tool & Hydraulics
基金
河北工业大学 2 11工程资助项目
关键词
并联机床
并联三维平台机构
力/运动传递各向同性
数控机床
DOF parallel kinematic machine
Parallel three-dimensional platform mechanism
Force/motion transmission isotropic property
Distribution.
