摘要
提出一种由空间三自由度并联机构和二自由度运动平台组成的混联机床构型,运用螺旋理论分析机构的运动原理,算出了自由度,对机构驱动输入的合理性进行验证。采用闭环矢量法和速度映射关系,对该机床的运动学特性分析,给出了该机构的位置逆解,确定驱动杆和动平台之间的位姿关系。在此基础上,分析了速度性能及姿态空间,得到机构速度Jacobian矩阵。通过运动学仿真,验证了机床运动学分析的正确性,研究表明,具有该结构的机床具有较大的工作空间,实现对大型工件的精密加工。
A novel Hybrid Kinematics Machine （HKM） which was composed of a 3-DOF parallel kinematics mechanism and a 2-DOF XY table. The motion principle of this machine can be analyzed by the screw theory. Meanwhile the DOF of this mechanism was calculated too. Then, verifying the driving input of HKM. The kinematics of this HKM was analyzed by using the closed--vector method and velocity mapping. The inverse solution of pasition analysis was presented. The position and orientation relationship between the actuating arm and the moving platform which is established. Then, the performance of the velocity and the orientation space was analyzed. The velocity Jacobian matrix of mechanism was derived. The validity of the kinematics analysis of HKM was verified by the kinematics simulation. Research shows that with the structure of the machine has a large working space , achieve precision machining of large work-piece.
出处
《机械设计与制造》
北大核心
2017年第8期13-16,共4页
Machinery Design & Manufacture
基金
国家自然科学基金资助项目(51275486)
山西省回国留学人员科研资助项目(2014050)
山西省国际科技合作项目(2015081016)
关键词
混联机床
螺旋理论
位置逆解
闭环矢量法
姿态空间
Hybrid Kinematics Machine
Screw Theory
Inverse Position Solution
Closed-Vector Method
Orientation Space
