BJ-04-02(A)型交叉杆并联机床运动学分析

Kinematics Analysis of BJ-04-02(A) Type Crossbar Parallel Machine Tool

研究了一种特殊构型6-UPS并联机床的运动学。根据机床实物建立虚拟样机模型,并用李群李代数理论对其位姿变换进行描述;采用旋量理论对该机床的自由度进行了分析;在运动学反解的基础上,求解了其工作空间形状,描述了其可加工几何范围;在运动学模型的基础上,采用四元素法和广义逆对其位置正解进行了研究,得到唯一正解;通过虚拟样机仿真,分析了该机床的位置正反解过程、速度雅克比矩阵、电机驱动函数以及几何约束条件等,为进一步研究其运动性能和运动控制提供了参考。

Kinematics study of a special configuration 6-UPS parallel machine tool was presented. A virtual prototype model was created according to the physical machine tool, and describing its position and orientation transformation through using Lie groups and Lie algebra theory. The degree of freedom （DOF） of the machine was analyzed via using screw theory. The workspace figure of the ma- chine was solved based on inverse kinematics, describing the scope of geometry can be processed by this machine. Then, on the basis of kinematics modal, the forward position kinematics of the machine was studied by using a four-element method and introducing gener- alized inverse, obtaining the only forward positive solution. Finally, through the virtual prototype simulation, the process of inverse ki- nematics and forward kinematics of the machine, velocity Jacobin matrix of the parallel machine tool, motor drive functions and geomet- ric constraints, and etc., were analyzed, which providing a reference for further study on its movement performance and control.