3-PTT串并联数控机床构型设计与位姿分析  

Configuration Design and Posture Analysis of 3-PTT CNC Serial-parallel Machine

作　　者：张邦成[1,2] 王义强[3] 蔡赟[2] 姚禹[2] 

机构地区：[1]吉林大学机械科学与工程学院,长春130025 [2]长春工业大学软件职业技术学院,长春130012 [3]浙江大学宁波理工学院,宁波315100

出　　处：《农业机械学报》2011年第9期207-212,共6页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家科技重大专项资助项目(2009ZX04014-013-01)

摘　　要：设计了一种5自由度3-PTT串并联数控机床机构。采用分解与综合的分析方法,分析了机构构型及自由度等问题,分析与计算表明设计的3-PTT机构符合串并联数控机床设计要求、构型合理。在充分考虑奇异约束条件和位姿影响因素的基础上,分析了机构的工作空间及位姿极限,并利用Matlab进行了仿真分析。仿真结果表明:此分析能较好地反映3-PTT串并联数控机床的完全工作空间,为工作过程的数字化控制提供了理论依据。A type of 3 - PTT CNC serial-parallel manipulator with 5-DOF was designed based on comprehensive analysis of the advantages of serial and parallel which characteristics for complex surface processing. The configuration and degrees of freedom was analyzed by using decomposition and synthesis. The analysis and calculations show that the 3 - PTT manipulator can satisfy the design needs of CNC serial-parallel machine and the configuration is reasonable. The working space and posture limit of manipulator was analyzed based on the singular constraints and posture factors in Matlab. Simulation results show that the analysis can reflect the complete working space of 3 -PTT CNC serial-parallel machine tools and provide a theoretical basis for automatic control of working process.

关 键 词：串并联机床 构型 位姿 工作空间 

分 类 号：TH112[机械工程—机械设计及理论]