一种新型五自由度并联机床的概念设计与运动分析  

Configuration Design and Kinematics Aanalysis of a New 5-DOF Parallel Machine Tool

作　　者：王海东[1] 韩玉[1] 杨炳恒[1] 

机构地区：[1]海军航空工程学院青岛分院,山东青岛266041

出　　处：《机械传动》2011年第8期68-71,共4页Journal of Mechanical Transmission

摘　　要：根据螺旋理论系统分析了恰约束主动支链PRPaU的运动特点,在此基础上提出了一种能实现三维移动和二维转动的4-PSS/PRPaU并联机床。利用坐标变换法建立了该并联机床的位置和速度解析方程,并推导出了机床的正、逆雅克比矩阵。According to the screw theory,the moving characteristic of the PRPaU machine is analyzed.One type of spatial new 4-PSS/PRPaU parallel machine tool is proposed,its platform has three translations and two relations.The position and velocity analytic equation are constructed based on the coordinate transformation,it has eight positive and reverse positional solution,the forward and the inverse Jacobian matrix of the parallel machine tool is deduced.

关 键 词：螺旋理论 并联机床 雅克比矩阵 

分 类 号：TG659[金属学及工艺—金属切削加工及机床]