TPT-2PTT并联机床奇异性及平稳性研究

Singularity and Stationarity Study of TPT - 2PTT Parallel Machine Tool

提出了一种新型的TPT-2PTT三平移自由度并联机床构型。在运动学正、逆解的基础上,对雅可比矩阵及速度进行了研究,分析了机构的奇异性及平稳性。研究结果表明:该机构具有运动平稳、不存在奇异点、易于控制等优点。

This paper presents a novel TPT- 2PTT 3 - dof translation parallel machine tool. Based on the kinematic equation and its inverse/ forward solution, the singularity and stationarity of the mechanism are anayzed by Jacobian matrix and velocity. Results show that the machanism is stable, no singularity and easy to realize control.