摘要
以设计高速混联机床为目的,研究了一种两自由度并联机构的设计方法。建立了机构的运动学正逆封闭解方程、作业空间解析解和速度传递方程。根据机床的特点,定义出速度输出率和全域速度输出率指标,明确了机构输入和输出速度与设计参数之间的关系。提出一种兼顾速度和作业空间要求的并联机床尺度设计方法,并进行了具体的设计计算,结果证明该方法可行。基于此并联机构,给出了一台高速三轴混联机床的概念设计。
A planar twodegreesoffreedom parallel manipulator was used to design highvelocity hybrid machine tools. Closedform solutions were developed for the inverse, the direct kinematics, the workspace limits and the velocity matrix. A velocity output ratio and a global velocity output ratio were defined as functions of the manipulator geometry. These two velocity indexes were used to analyze the effects of the design parameters on the system performance. A dimensional design methodology was then developed based on the workspace requirements limits and the velocity index. Test results show that the method can be used for engineering design, and a conceptual design is developed for a new 3axis hybrid machine tool based on the parallel manipulator.
出处
《清华大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2003年第5期613-616,共4页
Journal of Tsinghua University(Science and Technology)
基金
国家"八六三"高技术项目(2002AA421180)
