基于牛顿迭代法的并联机床运动学分析  

Kinematics Analysis of Parallel Machine Tool Based on Newton Iteration Method

作　　者：陆金鑫 王汝贵[1] 陈培民 张学海 LU Jinxin;WANG Rugui;CHEN Peimin;ZHANG Xuehai(College of Mechanical Engineering,Guangxi University,Nanning 530004,China)

机构地区：[1]广西大学机械工程学院,南宁530004

出　　处：《机械设计与研究》2022年第1期114-117,127,共5页Machine Design And Research

基　　金：国家自然科学基金资助项目(51865001)。

摘　　要：研究一种新型并联机床的运动学问题。建立机床的虚拟样机模型,根据齐次变换矩阵建立机床中并联机构的运动学模型并求出正解,在正解的基础上,分析了机构在某一位姿下的运动学逆解,得到了位置逆解的数学模型,采用Newton-Raphson迭代法结合算例对运动学进行分析,得到了运动学唯一的正解;通过虚拟样机仿真验证了运动学正解结果的正确性、可行性,获得了动平台的位姿随驱动值变化的规律,为进一步分析机床的尺度综合和轨迹规划提供了一定的理论参考。The kinematics of a new type of parallel machine tool is studied in this paper.The virtual prototype model of the machine tool is established,and according to the homogeneous transformation matrix,the kinematics model of the parallel mechanism in the machine tool is establishedto obtain the fonvard solution.The inverse kinematics solution of the mechanism in a certain position is analyzed,and the mathematical model of the inverse kinematics solution is obtained.The Newton-Raphson iteration method is used to analyze the kinematics with an example,and the unique forward kinematics solution is obtained.Through the virtual prototype simulation,the correctness and feasibility of the forward kinematics results are verified,and the variation of the pose of the moving platform from the driving value is obtained,which provides a theoretical reference for the further analysis of the scale synthesis and trajectory planning of the machine tool.

关 键 词：并联机床 Newton-Raphson迭代法 运动学分析 位置正逆解 

分 类 号：TH122[机械工程—机械设计及理论]