• CN:11-2187/TH
  • ISSN:0577-6686

›› 2006, Vol. 42 ›› Issue (9): 160-163.

• 论文 • 上一篇    下一篇

五轴并联机床的输入输出速度和力

彭斌彬;高峰   

  1. 北京航空航天大学机器人研究所;上海交通大学振动、冲击和噪声国家重点实验室
  • 发布日期:2006-09-15

INPUT/OUTPUT VELOCITY AND FORCE OF FIVE AXES PARALLEL MACHINE TOOL

PENG Binbin;GAO Feng   

  1. Institute of Robotics, Beihang University State Key Laboratory of Vibration, Shock & Noise, Shanghai Jiaotong University
  • Published:2006-09-15

摘要: 为解决五轴并联机床的角速度分量的非独立运动导致用速度矢量环法不能直接获得其输入输出速度关系,以及部分外力矩因受约束而不能由输入力来平衡,也将增加其输入输出力分析的难度问题,分析运动平台的运动特点,找到其角速度分量间的关系,得到五轴机床输入输出速度的关系。利用虚功原理,将不作虚功的约束力矩从外力矩中分离出来,得到五轴机床输入输出力的关系。这些分析方法对深入研究5自由度并联机床或并联机构具有较大的参考价值。

关键词: 并联机床, 非独立运动, 速度矢量环法, 虚功原理

Abstract: To solve the problems that the relationship between the input and output velocity of the five axes parallel machine tool can not be obtained directly just using the velocity vector-loop method for the non-independent movement of its angular velocity’s components, and the existence of constrained output moment which can not be balanced by the input forces would increase the difficulty in analyzing the relationship between the input forces and output force and moment. The movement characteristic of the moving platform is analyzed and the relationship of the angular velocity’s components is found. Then the relationship between the input and output velocity of the five axes parallel machine tool is derived. Analyzed the constrained output moment which contributes no virtual work and taken out it from the output moment the relationship between the input forces and output force and moment of the five axes parallel machine tool can be obtained according to the principle of virtual work. The method presented has great reference value for the further study of 5-DOF parallel machine tools or parallel mechanisms.

Key words: Non-independent movement, Parallel machine tool, Principle of virtual work, Velocity vector-loop method

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