新型六自由度混联机床机构设计及位置逆解研究  

Design and inverse kinematics analysis of a novel 6-DOF hybrid machine tool

作　　者：倪璟 王俊彦[2,3] 苗鸿宾[2,3] 王书森 

机构地区：[1]太原铁路机械学校,山西太原030006 [2]中北大学机械与动力工程学院,山西太原030051 [3]山西省深孔加工工程技术研究中心,山西太原030051

出　　处：《制造技术与机床》2016年第12期45-49,共5页Manufacturing Technology & Machine Tool

基　　金：国家自然科学基金资助项目(51275486);山西省留学回国人员项目基金(2015-077)

摘　　要：提出了一种以新型三自由度并联机构3-PRP作为定位模块,串联上三自由并联机构3-RPS来共同实现六自由度运动的新型混联机床的机构设计方案。首先,运用螺旋理论中运动和约束的关系分析了该机床实现3T3R运动原理,计算出该机构的自由度,进行了输入选取;然后,利用解析矢量法及几何关系建立机构位置逆解方程;最后,应用MATLAB对逆解方程进行求解并利用ADAMS对求解结果进行仿真验证,验证了逆解模型的正确性及机构的可行性。In this scheme, a novel 3 - PRP parallel mechanism is proposed as the position module, which can real- ize three motion, with assistance of the 3 - RPS parallel mechanism, 6 - DOF machining can be realized. First, the three - dimensional translations and three - dimensional rotations motion of this machine tool are analyzed based on screw theory of motion and constraints. The DOF of the mechanism is calculated, and the driving joints are chosen; Then, the inverse displacement analysis model is provide by using analytical methods and the geometric relation of the mechanism; At last, the position inverse solution is obtained by using MATLAB and the results simulation verification by using ADAMS, which verify that the correctness of the inverse displacement analysis model and the realizability of the mechanism.

关 键 词：混联机床 自由度 旋量理论 位置逆解 

分 类 号：TH165[机械工程—机械制造及自动化]