并联机床工作空间求解方法研究  

On the Resolution of Workspace Problem of a Parallel Machine Tool

作　　者：朱春霞[1] 朱立达[1] 杨斌久[1] 刘永贤[1] 

机构地区：[1]东北大学机械工程与自动化学院,辽宁沈阳11004

出　　处：《东北大学学报（自然科学版）》2008年第6期889-892,共4页Journal of Northeastern University(Natural Science)

基　　金：国家自然科学基金资助项目(50475052)

摘　　要：以一种3-TPT并联机床为例,对并联机床工作空间的两种求解方法进行了分析.首先通过求解并联机床的运动学逆解方程,利用工作空间的解析法求解出其工作空间,然后提出了一种利用虚拟样机技术对其进行工作空间求解的方法.这种方法思路清晰,方法简便,适用范围广,只需要建立并联机床的虚拟样机模型,给出约束条件,即可直观地求得其工作空间,无需复杂的推导过程.通过对两种方法的对比,指出了虚拟样机是一种更为直观、简单、实用的求解方法.Taking the 3-TPT parallel machine tool developed by this university as example, the two different methods resolving the workspace problem of parallel machine tool are discussed, One is to solve the kinematical inverse equation of parallel machine tool, then the available workspace is found out by analytical method, The other one is using the virtual prototype technique instead of the analytical method as above to resolve the workspace problem. It is such a method that is simple and clear in thought process as a shortcut and available to use in wide range, i.e. only a model of virtual prototype of parallel machine tool is needed to develop with some constraint conditions given, the workspace can be found out directly without complex derivation process. The two methods mentioned above are compared with each other, and the results indicate that the method by virtual prototype technique is more visual and practical and simpler.

关 键 词：并联机床 工作空间 解析法 虚拟样机技术 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]