双冗余驱动并联机床工作空间的扩大与规整

Enlargement and Regularity of Workspace of Parallel Machine Tool with Two Redundant Actuation

以一种附加双冗余驱动的三自由度并联机床为研究对象,建立其位置反解方程,求得速度雅克比矩阵。讨论影响工作空间大小和形状的约束条件,利用极限边界搜索法得到冗余驱动在不同位置时的工作空间,并分析了不同截面上的工作空间边界。仿真结果表明:与具有一个冗余驱动的机床相比,该并联机床工作空间的顶部和底部得到了扩大和填充,更加规整,能够满足对大型工件加工的要求。研究结果对该机床的实际应用具有一定的参考意义。

A kind of three degree of freedom（ 3-DOF） parallel machine tool with two redundant actuation is taken as the research object. The inverse displacement equation and velocity Jacobian matrix were first established. After discussing the constraints which influence the size and shape of workspace,the workspace of different locations where redundant actuation located in was obtained by using the method of limit boundary searching,and the workspace boundary of different sections was analyzed. Simulation shows that compared with a redundant drive machine tool,the top and bottom of the workspace of this parallel machine tool is enlarged and filled,which is more regular and can meet the requirements of large workpiece＇s process. The research results can be used as reference for the practical application of the machine tool.