一种运动副优化布置的3-SPR并联机床的运动静力学分析  

Kinetostatics Analysis of an Optimum Joint Distribution 3-SPR Parallel Machine Tool

作　　者：石岩[1,2] 李国芹[1] 张鹏程[1] 郭联合 

机构地区：[1]河北工程技术高等专科学校电力工程系 [2]燕山大学机械工程学院 [3]空军95927部队

出　　处：《机床与液压》2013年第15期172-175,共4页Machine Tool & Hydraulics

基　　金：河北工程技术高等专科学校科学研究计划(自然科学项目)(XZ1001)

摘　　要：对一种运动副优化布置的3-SPR并联机床的运动静力学进行了分析。简要介绍了3-SPR并联机床机构及运动副布置情况,在三维软件环境中建立了其模拟机构;通过移动Jacabian矩阵和转动Jacobian矩阵求解了机床的运动学参数,通过力、力矩平衡原理对机床进行了静力学分析;对所推导的运动静力学解析公式进行了数例分析,并进行了模拟验证。结果表明:运动副优化布置的3-SPR并联机床不仅工作空间相对较大,数学模型也相对简单,具有广阔的应用前景。The kinetostatics of an optimum joint distribution 3-SPR parallel machine tool was analyzed.The structure and the joint distribution of the 3-SPR parallel machine tool were introduced briefly,and the simulation manipulator was built in a three dimensional software.The kinematics parameters of the machine tool were solved through the translational Jacobian and rotational Jacobian,and the statics analysis of the machine tool was made through force and torque balance principle.The derived kinetostatics formulae were analyzed numerically,and were verified through simulation.The results show that the optimum joint distribution 3-SPR parallel machine tool has not only a relatively larger workspace,but also a simpler mathematic model,which determines its wide application future.

关 键 词：运动静力学 3-SPR并联机床 运动副优化布置 Jacobian矩阵 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]