一种新型五轴并串联机床的工作空间分析  

Workspace Analysis of a Novel 5-DOF Serial-parallel Machine Tool

作　　者：伞红军[1] 钟诗胜[2] 王知行[2] 

机构地区：[1]昆明理工大学机电工程学院,云南昆明650093 [2]哈尔滨工业大学机电工程学院,黑龙江哈尔滨150001

出　　处：《四川大学学报（工程科学版）》2010年第2期243-249,共7页Journal of Sichuan University (Engineering Science Edition)

基　　金：国家高技术研究发展863计划资助项目(2008AA04Z401);国家自然科学基金资助项目(50805032);高等学校博士学科点专项科研基金资助项目(20070213072)

摘　　要：针对6自由度Stewart型并联机床工作空间小的问题,提出一种新型5自由度并串联机床,该机床由一个2-TPR/2-TPS空间四自由度并联机构串联一个可转动的部件组成,具有空间三维移动和两维转动5个自由度。介绍了该机床的结构布局特点,用解析法推导了位置反解方程和输出参数间的解耦关系。采用数值分析的方法生成了该机床的工作空间,分析了结构参数的变化对工作空间的影响。分析的结果表明,该机床机床结构简单,其工作空间较Stewart型并联机床工作空间大,能够完成对具有空间复杂曲面的工件的加工。同时也为该机床的进一步设计和研究提供了理论依据。In order to improve the work in gability of Stewart-type parallel machine tools,a novel 5-DOF serial-parallel machine tool is proposed.The proposed mechine tool is composed of a 2-TPR/2-TPS special 4-DOF parallel mechanism in series with a rotatable component.It can provide 3 translational DOFs and 2 rotational DOFs.The structural characteristics of this machine tool was discussed.The inverse kinematics solution of this machine tool was deduced by analytical method.It was investigated indetail that how to formulate the decouplinge quation of position parameters.The shape of the work space of this machine tool was described by numerical method.The effects of the change on the structural parameterts to the workspace were studied.The analysis results showed that the structure of this machine tool is simple,the workspace of this machine tool is larger than the Stewart-type parallel machine tools,and this machine tool can machine the workpieces which have complex surfaces.At the sametime,there search on the analysis of machine tool in this paper povided a theoretical basis for the further designing and investigating.

关 键 词：并串联机床 5自由度 工作空间 位置反解 

分 类 号：TH112[机械工程—机械设计及理论]