一种并联机床的位置、速度和加速度逆解

本文针对一种混合结构的并联机器人机床,采用串并联运动学等效的方法,进行了运动学研究,推导了系统的位移、速度和加速度逆解的表达式,这可用于机床在加工时的运动规划及插补算法的实现。本文还进行了运动学仿真研究,机床的实际加工操作应用的结果表明,推导的运动学算法的正确性。

This paper analyzed the kinematics of a kind of hybrid parallel machine tool,a hypothesis serial mechanism equivalent to parallel mechanism in kinematics is used to build the model of kinematics,the inverse kinematics including position,velocity and acceleration are derived,which can be used to kinematic planning and the realization of interpolation.Simulation in this paper is carried out,and the results applied to the practical machine tool issue that the derivation is correct.