一种混合型4自由度并联机床的位置分析

针对原沈阳自动化研究所研制开发的五轴并联铣床的结构特点 ,提出了一种改进方案 ,并对这种新的构型的运动学进行了分析 ,针对其特点 ,从新的角度给出了位置正解及反解的方程。该构型的位置正解由于使用了附加传感器并充分考虑到机构特点而使得正解方程形式非常简单并且其中只存在一次项 ,从而避免了对复杂数值解法的采用

The paper brings forward an improved project for the five-axis parallel milling machine of Shenyang institute of automation, analyses the kinematics of this kind of parallel platform. In view of its special structure, bring out the formula of the inverse kinematics and forward kinematics with a new point of view by using a additional sensor which can make the forward kinematics formula very simple and there are just simple equation in it. Thereby this method avoids using the complex arithmetic.