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新型并联机床作业空间与奇异性分析 被引量:6

Workspace and Singularity Analysis of a Novel Parallel Machine Tool
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摘要 提出一种新型的平面三自由度并联机床 ,分析了该机床的两类构型奇异问题。在定义出机床位置空间的基础上 ,借助奇异性分析 ,提出兼顾运动平台实现位置能力和姿态能力的位姿空间描述方法 ,为此类机床的尺度设计、路径规划和控制提供了依据。 In this paper, a novel planar three degrees of freedom parallel machine tool is proposed. Closed-form solutions are developed for the inverse kinematics. Two types of singularity about the machine tool are studied. Based on the formulation of position workspace and orientation workspace, the effects of the design parameters on the dexterity and workspace are discussed. The analysis results in this paper can be of great help in designing, trajectory planning and control of the same type machine tool.
出处 《中国机械工程》 EI CAS CSCD 北大核心 2002年第10期817-819,共3页 China Mechanical Engineering
基金 国家 8 63高技术研究发展计划资助项目 (863 -5 11-943 -0 0 1) 国家 973重点基础研究资助项目 (G19980 3 0 60 7) 教育部博士学科点专项基金资助项目
关键词 并联机床 作业空间 奇异性 构型 parallel machine tool workspace singularity configuration
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参考文献6

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