新型5自由度冗余混联机床的机构设计及运动学分析  

Mechanism Design and Kinematics Analysis of A New 5 DOF Redundant Hybrid Machine Tool

作　　者：郭晓南 薄瑞峰[1] 张莹 李瑞琴[1] GUO Xiaonan;BO Ruifeng;ZHANG Ying;LI Ruiqin(School of Mechanical Engineering,North University of China,Taiyuan 030051,China)

机构地区：[1]中北大学机械工程学院

出　　处：《机械设计与研究》2018年第4期62-65,69,共5页Machine Design And Research

基　　金：国家自然科学基金资助项目(51175482);山西省回国留学人员科研资助项目(2017087);山西省国际科技合作项目(2015081016)

摘　　要：提出了1种由3自由度冗余驱动并联机构4-UPS/PU,串联上二自由度X-Y运动平台来共同实现五自由度运动的新型混联机床的机构设计方案。运用螺旋理论分析了该机床实现的3T2R运动原理,计算出该机构的自由度;利用解析矢量法及几何关系建立机构位置逆解方程,确定驱动杆和动平台之间的位姿关系。运用影响系数法建立了1阶运动影响系数矩阵-Jacobian矩阵,最后通过运动学仿真,验证了机床运动学分析的正确性。A structure scheme for a novel 5-DOF hybrid machine tool（ HMT） is proposed. In this scheme,a Hybrid Kinematics Machine（ HKM） which was composed of a 3-DOF-4-UPS/PU parallel kinematics mechanism and a 2-DOF XY table.Using screw theory analyzes the machine realize 3 T2 R motion principle to calculate the degrees of freedom;the vectorial analytic method and geometric relations to establish mechanism and its inverse position solution of equations. Then,the performance of the velocity and the orientation space was analyzed.Using the influence coefficient method established the first-order influence coefficient matrix-Jacobian matrix. Finally the validity of the kinematics analysis of HKM was verified by the kinematics simulation.

关 键 词：冗余驱动 混联机床 螺旋理论 位置逆解 姿态空间 

分 类 号：TH16[机械工程—机械制造及自动化]