6DOF并联机床的运动学解耦

Kinematic decoupling of 6DOF parall el connection machine tool

如何解决6DOF并联机床的强耦合,一直是6DOF并联机床伺服控制上的一个难题.为此,在对Jacobian矩阵进行改造的基础上,提出了一种新的解耦方法,得到了准对解耦矩阵。

Decouplingis always adifficultpro bleminservo-controlof6DOFparallelconnectionmachinetool.Based on rebuiding Jacobian matrix,a newd ecoupling method is proposed.There fore,decoupling between parallel m otion and rotation is implemented in 6DOF p arallel connection machine tool.