• CN:11-2187/TH
  • ISSN:0577-6686

›› 2002, Vol. 38 ›› Issue (12): 121-125.

• 论文 • 上一篇    下一篇

6自由度并联机床支链干涉建模及试验研究

汪琦;李铁民;汪劲松   

  1. 清华大学精密仪器与机械学系
  • 发布日期:2002-12-15

MODELING AND EXPERIMENT RESEARCH ON INTERFERENCE BETWEEN LINKS OF A 6-DOF PARALLEL KINEMATIC MACHINE

Wang Qi;Li Tiemin;Wang Jinsong   

  1. Tsinghua University
  • Published:2002-12-15

摘要: 以6自由度并联机床为研究对象,建立基于作业空间的干涉模型—含参数非线性方程组;利用连续法求解该模型解集的边界,此一维边界直观地描述出刀具终端位姿与支链干涉的关系;提出通过控制机床的多余自由度来避免支链间干涉,从而简单、有效地解决了6自由度并联机床操作安全性问题。

关键词: 6自由度并联机床, 含参数非线性方程组, 连续法, 支链干涉, 变量筛选, 操纵稳定性, 多目标优化, 结构综合贡献系数, 行驶平顺性

Abstract: A workspace based interference model of a 6-DOF parallel machine tool is established,which is expressed by a group of parameterized nonlinear equation. Using the numerical continuous method,the boundary of the solution set of the model is found out,and the one-order boundary describes the relation between the interference and the terminal pose intuitivily. Based on these analytic results and though controlling the extra freedom of the machine tool,the link(sub-chain) interference is avoided effectively and the security of the operation of the machine tool is assured.

Key words: 6-DOF parallel kinematic machine Interference between links Parameterized nonlinear equation Numerical continuous methods, Handling stability, Integrated structural contribution coefficient, Multi-objective optimization, Ride comfort, Variable selection

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