摘要
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.
出处
《机床与液压》
北大核心
2003年第2期23-24,共2页
Machine Tool & Hydraulics
基金
国家"八六三"计划资助项目(863-512-30-07)