不同冗余滑动方式对并联机床工作空间的影响  

Influence of Different Redundant Sliding Ways on Working Space of Parallel Machine Tool

作　　者：郭欢 李开明[1] GUO Huan;LI Kaiming(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing Jiangsu 210094,China)

机构地区：[1]南京理工大学机械工程学院,江苏南京210094

出　　处：《机床与液压》2018年第17期25-29,35,共6页Machine Tool & Hydraulics

基　　金：江苏省科技支撑计划-工业部分资助项目(BE2011193)

摘　　要：以三平动非对称(3-2SPS)并联机床为研究对象,着重研究冗余直线滑动和冗余圆弧滑动两种冗余滑块对机床工作空间的影响。对机床建立坐标系,确定两种滑动方式中冗余滑块的位置坐标,在同一坐标系下建立两种不同冗余滑动方式并联机床的位置反解模型,得到机构的反解运动方程,设置机床运动的约束条件,利用MATLAB软件对两种冗余滑动方式下并联机床的工作空间进行仿真,比较分析两种冗余滑动方式对机床工作空间的影响。Taking three translational asymmetric(3-2SPS)parallel machine tool as the research object,the influence of the redundant linear sliding and redundant circular sliding on working space of machine tool was studied.A coordinate system of machine tool was established,the coordinates of redundancy slider of the two sliding modes were determined.In the same system,two different redundant sliding mode position inverse solution models of parallel machine tool were established.The inverse solution kinematic equation was obtained.Setting constraints to machine tool motion,MATLAB software was used to simulate the working space of the parallel machine tool by two redundant sliding modes.The influence of the two kinds of redundancy sliding mode on working space of machine tool was analyzed comparatively.

关 键 词：非对称 冗余直线滑动 冗余圆弧滑动 并联机床 工作空间 

分 类 号：TH112[机械工程—机械设计及理论]