关键词: 5自由度, 并联机床, 雅可比矩阵, 运动学

Abstract: A novel 5UPS/PRPU 5-DOF PMT (Parallel machine tool) is proposed. The stationary platform is connected with the moving platform by the same five UPS driving links and a PRPU constraint link. Three translation DOF and two rotation DOF can be achieved. Moreover, the position and orientation parameters of the moving platform can be calculated by the PRPU link and the closed-loop control may be realized in the PMT. By the kinematic analysis and computation, the rotational constraint acted by the middle link for the moving platform is confirmed. The kinematic inverse solution equation and jacobian matrix for the PMT is presented. The theory and the algorithm are tested by the actual PMT.

Key words: 5-DOF, Jacobian matrix, Kinematics, PMT