新型((3-RPR+R)&UPS)+P混联机床机构的位置逆解和工作空间分析  

Position Inverse Solution and Workspace Analysis of a Novel((3-RPR+R)&UPS)+P hybrid Machine Tool Mechanism

作　　者：梅瑛[1] 沈祚 许文文 李瑞琴[1] MEI Ying;SHEN Zuo;XU Wenwen;LI Ruiqin(School of Mechanical Engineering,North University of China,Taiyuan 030051,China;JMC Heavy Duty Vehicle Co.,Ltd,Taiyuan 030032,China)

机构地区：[1]中北大学机械工程学院,太原030051 [2]江铃重型汽车有限公司,太原030032

出　　处：《机械设计与研究》2020年第3期40-43,59,共5页Machine Design And Research

基　　金：国家自然科学基金(51275486);山西省回国留学人员科研(2017087)资助项目。

摘　　要：针对提出的新型((3-RPR+R)&UPS)+P混联机床机构,根据螺旋理论对其进行了自由度分析;然后,利用解析矢量法建立了其位置逆解方程;基于位置逆解,对其工作空间进行了分析研究,研究结果表明该机床有效工作空间较大,刀具可实现较大摆角;运用MATLAB对位置逆解方程进行了求解,且利用ADAMS对求解结果进行了仿真验证,验证了逆解模型的正确性。For the((3-RPR+R)&UPS)+P mechanism of hybrid machine tool,first,the degree of freedom is analyzed by using the screw theory.Then,the equation of position inverse solution is established by using analytical method.Next,based on the position inverse solution,its work-space is studied,the results verify that its work-space and tilt angle of knife are larger.At last,the equation of position inverse solution is solved by using MATLAB and the result of simulation verification is carried out by using ADAMS,and the correctness of the position inverse solution model is verified.

关 键 词：混联机床机构 位置逆解 工作空间 仿真 

分 类 号：TH112[机械工程—机械设计及理论]