CNC雕刻机平面并联机构的运动学设计

提出一种新型三坐标CNC雕刻机的概念设计。该雕刻机采取平面并联机构实现X，Y方向进给运动，而安装在该机构末端的串联主轴实现Z向进给运动。针对该平面并联机构，研究基于总体灵活度的运动学设计方法，指出运动学设计问题可归结为以全局运动性能指标最大为目标的单目标、有约束的优化设计问题。同时，利用随机方向法搜索到一个最优解，通过实例分析进行验证。结果表明，提出的方法是可行的，可用于样机的开发。

Kinematics of Planar Parallel Manipulator for Computer Numerical Control of Engraving Machine

A conceptual design is advanced for the use of a novel 3 axis CNC engraving machine, in which the feed motions in the x and y directions are realized by a five bar planar parallel manipulator while that in the z direction is realized by a series mainshaft mounted on the end of the manipulator. The authors investigate the kinematics of the planar parallel manipulator based on the global dexterity. and point out that the kinematics can be regarded as a constrained optimal design problem with a single objective, which makes the global kinematics performance index to be maximal. And moreover, an optimal solution is searched out by the method of random directions and verified by a case study. The result indicates that the proposed kinematics is feasible and can be applied to the development of sample machine.