摘要
东北大学在前期研究的基础上最近又开发了一种新型三腿并联机床 ,该机床可用于立式加工 ,将工作头旋转一定角度后又可实现卧式加工·介绍了该机床的结构型式和特点 ,并对机床的运动学问题进行了研究 ,在分析平行约束机构的基础上 ,推出了相应的位置、速度、加速度等运动学方程 ,并得出了雅可比矩阵的计算公式·理论分析表明 ,该机床的运动方程为显式 ,形式简单 ,计算量小 ,易于进行实时控制·此种机床可望在木制品加工。
A new 3 legged parallel robot machine tool was designed. This machine tool can machine apart vertically as well as horizontally when the mill head is rotated some angle. The structure and characteristic of the machine tool were introduced. The kinematics of the machine tool was studied. Corresponding position, velocity, acceleration kinematics equations were deduced by analyzing the parallel stopper mechanism. Formula of the Jacobian matrix was obtained. The kinematic equations of this machine tool are very simple and easy to solve. The real time control of the machine tool is easy. This machine tool can be applied to the wood, soft metal or nonmetal machining.
出处
《东北大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2003年第3期264-267,共4页
Journal of Northeastern University(Natural Science)
基金
国家'八六三'高技术计划项目 ( 863 980 3 0 5 )
关键词
并联机器人
虚拟轴机床
运动学
速度
加速度
雅可比矩阵
parallel manipulator
virtual axis machine tool
kinematics
velocity
acceleration
jacobian matrix
