并联机器人机床运动学正、逆解

基于一般ＳＴＥＷＡＲＴ机构研制的并联机器人机床是新一代智能化金属切削加工机床．然而，机床的运动学位置正、逆解呈强非线性，求解困难．出于机床精度的需要，本研究的模型样机在结构上采用了滚珠丝杠传动，因此又带来了关节运动耦合，导致机床运动学位置正、逆解求解更加复杂．利用运动学等效的原则，引入整机等效串联机构及分支等效串联机构，以等效广义坐标为中间变量建立机床运动学正、逆解求解迭代算法．仿真与控制实验表明，该算法具有收索速度快便于实际应用等特点。

The parallel manipulator for manufacturing is a new type of machine tool. But the forward kinematics of a parallel manipulator is very complicated and its solutions usually rely on numerical methodes. Because of the requirement of high precision,the structure of six  links is designed with ball  screws. So some structure derived motion is produced. This results in more complicacy in kinematics analysis. With the view of kinematics equivalence between parallel manipulators and serial manipulators,a supposed serial mechanism which is kinematically equivalent to parallel manipulator and six branch regarded as six serial mechanism is used to general iteration algorithm,which is based on equivalent generalized coordinates. The simulation and experiment result shows that this algorithm can realize real  time control and apply practically.

中科院机器人学开放实验室基金