机器人化三腿磨削机床的研制

以钢坯修磨为实用目的研制的一台机器人化三腿机床，具有刚度大、负载能力强、机构简单、工作空间大、无运动耦合及奇异位形等优点，首次解决了钢坯局部修磨自动化问题，配以其它加工执行器还可实现多种工艺要求。建立了该机床的运动学逆、正解方程，对其工作空间和受力分析进行了介绍，并介绍了局部修磨自动化控制系统

A robotized grinding machine with tripod linkage is developed specially for partial grinding of steel blank. The machine features high rigity, heavy loading, simple structure, large working space, no motion coupling, no bizarre positioning or shape. It initially sovles automatical partial grinding of steel blank. It can realize various technological requirements if equiped with some other actuators. The positive and inverse equations are established for kinematics of the machine. This article also introduces the working space, force analysis and automatical control system for partial grinding.

国家“863”基金,国家教委博士点基金