| 5-UPS/PRPU 5自由度并联机床运动学分析 |
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| 引用本文： | 赵永生,郑魁敬,李秦川,田小静. 5-UPS/PRPU 5自由度并联机床运动学分析[J]. 机械工程学报, 2004, 40(2): 12-16 |
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| 作者姓名： | 赵永生 郑魁敬 李秦川 田小静 |
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| 作者单位： | 燕山大学机械工程学院,秦皇岛,066004;燕山大学机械工程学院,秦皇岛,066004;燕山大学机械工程学院,秦皇岛,066004;燕山大学机械工程学院,秦皇岛,066004 |
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| 基金项目： | 河北省自然科学基金(503287)，河北省博士基金(2001216)资助项目 |
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| 摘 要： | 介绍了一种新型的5-UPS/PRPU5自由度并联机床,定平台通过五个结构完全相同的驱动分支UPS分支以一个约束分支PRPU分支与动平台相连接。该机床可以实现三维移动和两维转动,PRPU分支关节变量反映了动平台位姿,为实现闭环控制提供了条件。通过对其运动学进行分析和计算,确定了中间分支对动平台的约束运动,建立了该机床的运动学反解方程和雅可比矩阵,并通过机床样机试验验证了理论分析的正确性。
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| 关 键 词： | 并联机床 5自由度 运动学 雅可比矩阵 |
| 修稿时间： | 2002-09-30 |
KINEMATIC ANALYSIS OF 5-UPS/PRPU 5-DOF PARALLEL MACHINE TOOL |
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| Zhao Yongsheng Zheng KuijingLi Qinchuan Tian Xiaojing. KINEMATIC ANALYSIS OF 5-UPS/PRPU 5-DOF PARALLEL MACHINE TOOL[J]. Chinese Journal of Mechanical Engineering, 2004, 40(2): 12-16 |
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| Authors: | Zhao Yongsheng Zheng KuijingLi Qinchuan Tian Xiaojing |
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| Affiliation: | Yanshan University |
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| Abstract: | A novel 5UPS/PRPU 5-DOF PMT (Parallel machine tool) is proposed. The stationary platform is connected with the moving platform by the same five UPS driving links and a PRPU constraint link. Three translation DOF and two rotation DOF can be achieved. Moreover, the position and orientation parameters of the moving platform can be calculated by the PRPU link and the closed-loop control may be realized in the PMT. By the kinematic analysis and computation, the rotational constraint acted by the middle link for the moving platform is confirmed. The kinematic inverse solution equation and jaco-bian matrix for the PMT is presented. The theory and the algorithm are tested by the actual PMT. |
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| Keywords: | PMT 5-DOF Kinematics Jacobian matrix |
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