基于D-H变换矩阵的Stewart型并联机床位姿方程及运动学反解  

Posture equation and dynamics reverse solution of Stewart typed parallel machine tools based on D-H transformation matrix

作　　者：单鹏[1,2] 谢里阳[1] 田万禄[2] 温锦海[2] 

机构地区：[1]东北大学机械工程与自动化学院,辽宁沈阳110004 [2]辽宁工业大学机械工程学院,辽宁锦州121001

出　　处：《机械设计》2009年第5期15-18,共4页Journal of Machine Design

基　　金：国家高技术资助项目(2006AA04Z408)

摘　　要：以D-H变换矩阵为建模工具,建立了包含铰链结构、支链类型、铰座安装位姿、杆件结构尺寸和运动参数等各类几何特征信息的6自由度并联机床的通用位姿方程,并进行了运动学反解。得到了以显式表达的主、从动关节运动参量计算公式。Taking the D - H transformation matrix as the modelling tool, the all-purposed posture equation of the 6 DOF parallel machine tools with information of various geometric characteristics that includes the hinge structure, types of branch chain, installation posture of hinged support, structural dimensions of rod piece and kinematic parameters etc. was established. The kinematics reverse solution has been carried out, and thus obtained the calculation formula of the driving and driven joints kinematic parameters.

关 键 词：Stewart型并联机床 位姿方程 D-H变换矩阵 运动学反解 

分 类 号：TG659[金属学及工艺—金属切削加工及机床]