并联机床运动仿真与运动学分析的新方法

为了不建立数学模型完成并联机床机构的运动仿真和运动学分析，提出综合利用CAD软件所具有的装配约束和尺寸驱动功能实现运动仿真和运动学分析的方法。给定刀具位置与姿态的驱动尺寸和杆件长度的被驱动尺寸，在装配约束作用下驱动尺寸带动整个机构运动，实现运动仿真，记录杆件长度的被驱动尺寸，得到杆长的值。用Matlab软件拟合杆长数据，得到刀具位姿（驱动尺寸）与每个杆长值（被驱动尺寸）的拟合曲线和拟合方程，求解了杆件的速度和加速度方程。计算机模拟结果表明，并联机床运动仿真与运动学分析方法简捷直观，速度快，求解精度高，可完成其他多自由度并联机构的运动仿真和运动学分析，是并联机构的运动仿真和运动学分析的有效工具。

A New Solution for Motion Simulation and Kinematic Analysis of Parallel Machine Tool

In order to obtain the solution for motion simulation and kinematic analysis of a parallel machine tool without the construction of mathematical model,a method of using assembly constraint and dimension driven function of CAD software was presented.Defining the pose parameters of the tool as the driving dimensions and the length of actuating limbs as the driven dimensions,the configuration of the simulation mechanism was varied correspondingly with variation of the driving dimensions and the driven dimensions(length of actuating limbs) can be acquired and recorded.The fit equation of the length of actuating limbs respecting with motion of pose was obtained by Matlab software,the velocity and acceleration were derived from the fit equation of length of the actuating limbs.The results of computer simulation show that this method is straightforward,quick,and is advantageous from viewpoint of accuracy and highly efficient solution for other parallel mechanism.