6自由度并联机床支链干涉建模及试验研究  

MODELING AND EXPERIMENT RESEARCH ON INTERFERENCE BETWEEN LINKS OF A 6-DOF PARALLEL KINEMATIC MACHINE

作　　者：汪琦[1] 李铁民[1] 汪劲松[1] 

机构地区：[1]清华大学精密仪器与机械学系,北京100084

出　　处：《机械工程学报》2002年第12期121-125,共5页Journal of Mechanical Engineering

基　　金：国家973重点基础研究项目(G1998030607);清华大学985学科建设项目。

摘　　要：以6自由度并联机床为研究对象,建立基于作业空间的干涉模型-含参数非线性方程组;利用连续法求解该模型解集的边界,此一维边界直观地描述出刀具终端位姿与支链干涉的关系;提出通过控制机床的多余自由度来避免支链间干涉,从而简单、有效地解决了6自由度并联机床操作安全性问题。A workspace based interference model of a 6-DOF parallel machine tool is established, which is expressed by a group of parameterized nonlinear equation. Using the numerical continuous method, the boundary of the solution set of the model is found out, and the one-order boundary describes the relation between the interference and the terminal pose intui-tivily. Based on these analytic results and though controlling the extra freedom of the machine tool, the link(sub-chain) interference is avoided effectively and the security of the operation of the machine tool is assured.

关 键 词：6自由度并联机床 建模 试验研究 支链干涉 含参数非线性方程组 连续法 

分 类 号：TG659[金属学及工艺—金属切削加工及机床]