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提出了一种以新型四自由度并联机构(3-RPR+R)&UPS作为并联加工模块,辅以能实现并联加工模块滑动的直线导轨来共同实现五坐标联动加工的一种新型龙门式大摆角混联机床的机构设计方案。首先,运用螺旋理论中运动和约束的关系分析了该机床实现3T2R运动原理,计算出该机构的自由度,进行了输入选取;然后,利用解析矢量法及几何关系建立机构位置逆解方程;最后,应用MATLAB对逆解方程进行求解,并利用ADAMS对求解结果进行仿真验证,验证了逆解模型的正确性及机构的可行性。
A new type of gantry swinging machine is proposed which combines the new 4-DOF parallel mechanism (3-RPR + R) & UPS as a parallel processing module and a linear guide that can realize the parallel sliding movement of the module. Angle hybrid machine tool design. Firstly, the mechanism of 3T2R motion is analyzed based on the relationship between the motion and the constraint in the spiral theory, the degree of freedom of the mechanism is calculated and the input is selected. Then, the inverse kinematics equation of the mechanism is established by using analytic vector method and geometric relation. Finally, , The inverse solution equation is solved by MATLAB, and the result of simulation is validated by ADAMS. The correctness of the inverse solution and the feasibility of the mechanism are verified.