6-THS型并联机床结构参数设计理论与方法

并联机床具有模块化程度高、重量轻、速度快和造价低等优点。该文以６－ＴＨＳ型并联机床结构为对象，研究其设计理论与方法。定义了并联机床的初始位形，构造出并联机床处于初始位形时的局部灵活度解析模型，并以此为基础提出了运动学设计的最优构形。基于上述分析结果，提出一种并联机床尺度参数综合方法。该方法兼顾运动终端实现姿态的能力和灵活度两方面的要求，保证了所设计的机床满足制造领域的基本要求。利用该方法进行工程设计计算，结果证明该方法可行。

Design theory and methodology of 6-THS parallel machine tools

Parallel machine tool enjoys many advantages over its conventional counterparts. These advantages include high rigidity and accuracy, desirable force/weight ratio and easy way to implement modularization. Based on parallel machine tools with 6 THS architecture, a design theory and method were researched. After the original configuration of parallel machine tools was defined and its local dexterity loci model was formulated, the optimal architecture about kinematics design was put forward. According to the analysis results, an approach that could satisfy the requirement of motion platform realizing gesture capability and local dexterity was proposed to implement the dimensional synthesis. The test results prove the approach could be used to the real engineering design and calculation.