含两个冗余驱动并联机床的灵巧度分析

以两个冗余驱动的并联机床为研究对象,建立机床的运动学模型,得到机床的雅克比矩阵,并对机床进行灵巧度分析。利用雅克比矩阵建立了3个影响机床灵巧度的指标,即可操控性、条件数和最小奇异值,通过这3个灵巧度指标定义了综合灵巧度系数这个评价指标。最后采用MATLAB进行仿真分析,得到不同位置的灵巧度分布情况,为机床的优化和轨迹规划奠定了一定的理论基础。

Dexterity Analysis of Parallel Machine Tools with Two Redundant Drive

Taking the parallel machines tools with two redundant drive as the study object, the kinematics model was established, the Jacobian matrix of the machine tool was obtained, and the dexterity of the machine tool was analyzed. Jacobian matrix was used to establish three dexterity indicators of the machine, namely manipulation,the number of conditions and the minimum singular value.Through the three dexterity indicators, the evaluation index comprehensive dexterity coefficient was defined.MATLAB was used to make simulation analysis. The distribution of dexterity at different positions is obtained, which lays a theoretical foundation for machine tool optimization and trajectory planning.