3-DOF并联机构运动学与新型混联机床构想

摘要

Hybrid Kinematics Machine(HKM) has the main advantages of Parallel Kinematics Machine(PKM) and traditional machine tools in manufacturing industry. HKM not only has a high stiffness,but also a considerable workspace. So it becomes a superior candidate for the next generation machine tools. Most of 3-DOF parallel manipulators can be classified as four types based on Kinematics. According to the classification, A novel Hybrid Kinematics Machine is proposed, which consists of a 3-DOF (two translations and one rotation) parallel kinematics mechanism and a2-DOF XY table (two translation) .and the inverse and forward kinematics problems are described in this paper.%在机械制造领域,混联机床结合了并联机床和传统机床的主要优点,它既有高的刚度,也有大的工作空间,混联机床成为下一代机床极佳的选择.根据三自由度(3 -DOF)空间并联机构的运动学求解特点,将已提出和应用的3-DOF空间并联机构分为四类,并在分类的基础上提出一种新型的混联机床,它是由一个空间三自由度(两个移动和一个转动)的并联机构和一个xy平面两自由度(两个移动)的工作平台组成.本文对这个空间三自由度的并联机构的正向运动学和逆向运动学进行了分析研究.