三平动冗余驱动并联机床工作空间与运动学分析

以三平动非对称冗余驱动(3-2SPS)并联机床机构为研究对象,并对该机构进行工作空间和运动学分析。建立该机构的位置反解模型,并得到带约束条件的位置反解运动方程,利用边界数值搜索法,确定并联机构的工作空间。采用Matlab曲线拟合[1]确定杆长变化与动平台运动位姿关系方程,以此分析冗余驱动滑块位于不同位置状态下,每个杆长的速度、加速度。研究结果为3-2SPS非对称冗余驱动并联机构的实际应用提供了理论依据。

Workspace and Kinematic Analysis of Parallel Machine Tool with Three Translational DOF Redundant Drive

Based on the three translational degree of freedom ( DOF) and asymmetrical ( 3-2SPS) parallel machine tool with a re-dundant drive as a research object , the workspace and kinematic analysis of a parallel machine were made .Establishing the position in-verse solution model and getting the inverse kinematics equation with constraints , then using boundary numerical search method , the workspace of parallel machine was obtained .Rod length variation and dynamic moving platform pose relation equation were determined by curve fitting based on Matlab [1] , so as to analyze the speed and acceleration of each rod of redundancy driven slider located under the condition in different position .The research results provide the theoretical basis for the practical application of the (3-2SPS) paral-lel mechanism.