新型三腿并联机床的速度及加速度分析

东北大学在前期研究的基础上最近又开发了一种新型三腿并联机床 ,该机床可用于立式加工 ,将工作头旋转一定角度后又可实现卧式加工·介绍了该机床的结构型式和特点 ,并对机床的运动学问题进行了研究 ,在分析平行约束机构的基础上 ,推出了相应的位置、速度、加速度等运动学方程 ,并得出了雅可比矩阵的计算公式·理论分析表明 ,该机床的运动方程为显式 ,形式简单 ,计算量小 ,易于进行实时控制·此种机床可望在木制品加工、软金属制品及各种非金属制品加工领域获得较好的应用前景

Velocity and Acceleration Analysis of a New 3-Legged In-Parallel Machine Tool

A new 3 legged parallel robot machine tool was designed. This machine tool can machine apart vertically as well as horizontally when the mill head is rotated some angle. The structure and characteristic of the machine tool were introduced. The kinematics of the machine tool was studied. Corresponding position, velocity, acceleration kinematics equations were deduced by analyzing the parallel stopper mechanism. Formula of the Jacobian matrix was obtained. The kinematic equations of this machine tool are very simple and easy to solve. The real time control of the machine tool is easy. This machine tool can be applied to the wood, soft metal or nonmetal machining.