| 一种新型三自由度并联机床的概念设计与运动分析 |
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| 引用本文： | 王海东.一种新型三自由度并联机床的概念设计与运动分析[J].科学技术与工程,2011,11(14). |
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| 作者姓名： | 王海东 |
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| 作者单位： | 海军航空工程学院青岛分院,青岛,266041 |
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| 摘 要： | 根据螺旋理论系统分析了 机构的运动特点，并提出了一种能实现三维移动的 并联机床。利用坐标变换法建立了该并联机床的位置和速度解析方程，有8组显式的位置正解和反解，并推导出了机床的正、逆雅克比矩阵。
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| 关 键 词： | 螺旋理论 并联机床 位置正解 位置反解 雅克比矩阵 |
| 收稿时间： | 2/15/2011 9:22:06 PM |
| 修稿时间： | 3/1/2011 6:37:50 PM |
Configuration design and Kinematics analysis of a new 3-DOF parallel machine tool |
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| wanghaidong.Configuration design and Kinematics analysis of a new 3-DOF parallel machine tool[J].Science Technology and Engineering,2011,11(14). |
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| Authors: | wanghaidong |
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| Institution: | WANG Hai-dong,DING Wen-yong,TANG Yuan-heng,ZHANG Yong(Qingdao Branch of Naval Aeronautical Engineering Institute,Qingdao 266041,P.R.China) |
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| Abstract: | According to the theory of screw, the moving characteristic of the machine is analyzed. One type of spatial new 3-DOF parallel machine tool is proposed, its platform has only three translations. The position and velocity analytic equation are constructed based on the coordinate transformation, it has eight positive and reverse positional solution, the forward and the inverse Jacobian matrix of the parallel machine tool is deduced. |
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| Keywords: | Theory of screw Parallel machine tool Positive positional solution Reverse positional solution Jacobian matrix |
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