5自由度混联式自由曲面研抛机床的运动学分析(二)——运动学逆解  

Kinematics Analysis on 5-DOF Series-parallel Polishing Machine Tool,Part Two:Inverse Kinematics

作　　者：张代治[1] 赵继[1] 祝佩兴[1] 王义强[1] 

机构地区：[1]吉林大学机械工程学院

出　　处：《机床与液压》2005年第9期17-21,共5页Machine Tool & Hydraulics

基　　金：吉林省科技发展计划资助项目(20000122)

摘　　要：以5自由度混联式自由曲面研抛机床的运动学正解分析为基础,对其运动学逆解问题展开了相关探讨。提出了用以限定工具研抛姿态的工艺条件和运动条件,分别给出了机床四类灵活程度工作空间中工具研抛姿态的确定方法。为后继的插补运动控制奠定了基础。Based on the forward kinematics analysis about the 5-DOF series-parallel polishing machine tool, the inverse kinematics of the machine tool was discussed, including the limit conditions of technical and motion to choose the polishing tool posture, the methods to make the inverse displacement uniquely in four parts of the machine tool workspace. It lays a foundation of interpolation control for the machine tool to polish free-form surfaces.

关 键 词：混联机床 研抛工具姿态 运动学逆解 

分 类 号：TG502.1[金属学及工艺—金属切削加工及机床]