5-UPS/PRPU五自由度并联机床基准位形的确定  

The Confirmation Norm Configuration for 5-UPS/PRPU 5-DOF Parallel Machine Tool

作　　者：鹿玲[1] 王瑜[1] 陈修龙[2] 赵永生[1] 

机构地区：[1]燕山大学机械工程学院,河北秦皇岛066004 [2]山东科技大学机电学院,山东青岛266510

出　　处：《机床与液压》2006年第12期14-17,共4页Machine Tool & Hydraulics

基　　金：河北省自然科学基金资助项目(503287);河北省博士基金资助项目(2001216)

摘　　要：确定了5-UPS/PRPU五自由度并联机床的刀尖点的空间搜索范围,计算出该搜索范围内动平台的位姿,将这些动平台位姿进行几何约束条件的检验,通过对满足几何约束条件的动平台位姿的雅可比矩阵的3个灵巧度指标分析,以综合误差系数为机床性能评价指标,搜索出并联机床的基准位形,为并联机床工件坐标系定位算法的研究提供了理论基础。The scope of tool tip for 5 - UPS/PRPU 5 - DOF parallel machine tool was confirmed, the correlative position and pose of moving platform inspected by geometric constraints was calculated. Through the analysis of dexterity degree index derived from jacobian matrix calculated by using above position and pose of moving platform, the comprehensive error coefficient as value index of machine performance was defined, and the norm configuration for 5 - UPS/PRPU 5 - DOF parallel machine tool was confirmed. These provide academic base for orientation algorithm of workpiece coordinate system.

关 键 词：并联机床 雅可比矩阵 灵巧度指标 基准位形 

分 类 号：TG659[金属学及工艺—金属切削加工及机床]