摘要
针对以 Stewart平台为原型的 6自由度并联机床各项同性和工艺性差等问题 ,提出一种新颖的 6-DOF并联机床结构 ,应用并联机器人机构学理论 ,论证了该种结构型式的并联机床在其工作空间内存在速度和力各向同性位姿 ,具有最佳的运动和力传递性能。选择各向同性位姿为机床初始装配位姿 ,改进了机床的结构 ,改善了装配工艺性。
The problem that the isotropy and the technological efficiency of a parallel machine tool based on Stewart platform are not satisfactory, a novel architecture of 6 DOF parallel machine tool is presented.Using the theory of parallel robotic mechanisms, the presence of the isotroplic configuration is demonstrated in the workspace. The parallel machine tool has optimum properties of motion and force transmission. And the isotropic configuration is selected as the initial assembly configuration, which makes the parallel machine tool be manufactured as easily as possible.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2001年第12期1359-1361,共3页
China Mechanical Engineering
基金
河北省自然科学基金资助项目 ( 5 0 10 32 )
河北工业大学"2 11"工程资助项目
关键词
并联机床
并联机构
各向同性
工艺性
parallel machine tool parallel mechanism isotropy technological efficiency
