(2PSR+PUU)&RP混联机床的位置及其工作空间分析

针对并联机床摆角小，难以加工复杂曲面零件的缺点，提出一种新型(2PSR+PUU)&RP混联机床的机构构型。首先运用螺旋理论以及修正的K-G公式对机构自由度进行分析计算与验证。运用闭环矢量法对机构进行运动学分析，给出该机构的位置逆解以及基于粒子群算法的正解，确定驱动块和动平台的位姿关系。在SolidWorks软件中采用动静结合法绘制出其工作空间，并利用ADAMS对其摆角进行测算，验证了机构模型的正确性以及机构运动的可实现性。研究表明，混联机床具有3T2R这5个自由度，有较大的工作空间，且其刀具摆角可达(0°～90°),通过刀具的大摆角转动和五轴联动可应用于部分汽轮机，水轮机和航空发动机的叶片和复杂曲面零件的加工。

The position and workspace analysis of(2PSR+PUU)&RP hybrid machine tool

A novel(2PSR+PUU)&RP hybrid machine tool was proposed to solve the disadvantages of small swing angle and difficulty in machining complex curved parts.Firstly,the screw theory and modified K-G formula were used to analyze,calculate and verify the degree of freedom of the mechanism.The closed-loop vector method was used to analyze the kinematics of the mechanism,and the inverse solution and the positive solution based on the particle swarm optimization algorithm were given to determine the position and pose relationship between the driving block and the moving platform.In SolidWorks,the working space is drawn by static and static method,and the pendulum angle is calculated by ADAMS,which verifies the correctness of the mechanism model and the realizability of the mechanism motion.The results show that the hybrid machine tool has 3T2R five degrees of freedom,has a large working space,and the tool swing angle can reach(0°~90°),through the large swing angle of the tool rotation and five-axis linkage can be applied to the turbine,hydraulic turbine and aero-engine blade and complex surface parts processing.