摘要
针对 SML T并联运动学机器的结构特征 ,将闭式并联运动学机器分解为三个开式子链 ,基于解析几何理论和微分理论 ,分别研究其子空间 ,找出子空间的边界解析式。然后求三个子空间的交集 ,得到 SML T并联运动学机器工作空间的不规则几何形状 ,再进行圆整 ,由此创造性地提出 SML T并联运动学机器的圆台工作空间理论 ,并推导出圆台工作空间的边界解析式 ,最后通过数值算例验证该法的有效性。突破了此类并联机床工作空间求解困难的瓶颈 ,可有效地指导 SML
This paper deals with the workspaces of a closed SMLT(Stewart Mechanism with Line Tracks) according to its structural feature. It is based on the theory of differential calculus and analytic geometry. Then we studied each sub-workspace respectively, found out its marginal analytic expressions, calculated the intersection of the three sub-workspaces, acquired the irregular figure of the workspace, and put forward the theory of drum in a creative way by smoothing it. Finally,an example is presented to verify the method. With our method, the difficulty in calculating the workspace is overcome.
出处
《机械科学与技术》
CSCD
北大核心
2003年第5期776-778,共3页
Mechanical Science and Technology for Aerospace Engineering
