基于Mat lab 对3 -TPT 并联机床的运动学仿真

辽宁石油化工大学学报 ›› 2008, Vol. 28 ›› Issue (1): 19-22.

基于Mat lab 对3 -TPT 并联机床的运动学仿真

程仙国, 赵恒华^＊

辽宁石油化工大学机械工程学院, 辽宁抚顺113001

收稿日期:2007-06-28 出版日期:2008-03-20 发布日期:2017-07-22
作者简介:程仙国(1981 -), 男, 安徽安庆市, 在读硕士
基金资助:
辽宁省自然科学基金(20052211);辽宁省教育厅科学研究计划(05L231)

Kinematics Stimulation for Three -TPT Parallel Machine Tool Based on Matlab

School of Mechanical Engineering , Liaoning University of Petroleum &Chemical Technology ,
Fushun Liaoning 113001, P .R .China

Received:2007-06-28 Published:2008-03-20 Online:2017-07-22

摘要/Abstract

摘要： 介绍了一种新型3 -TPT 并联机床的机构组成与工作原理, 建立了3 -TPT 并联机床空间坐标系, 并在此基础上推导了该并联机床位置正反解方程, 针对并联机床正解复杂、存在多解的特点, 利用Matlab 软件对3 -TPT 并联机床位置正反解进行了部分解的仿真, 为推导和计算并联机床执行末端的速度、加速度以及作用力提供了基础。最后, 结合3 -TPT 并联机床位置正反解方程仿真出了该机床的最大作业空间, 并测得其体积为0.863 m3 。

关键词: 并联机床, 　运动学, 　作业空间, 　Matlab

Abstract:

　 The machine constitute and working principle of a new three - TPT parallel machine tool was introduced,establishing the spatial coordinate of it and deriving the forward and reverse position of it on the basis .For the sake of the complicated and excessive forward positions of parallel machine tools, a few forward and reverse positions of the three -TPT parallel machine tool were stimulated by Matlab , which sets a good ground for reasoning and computing the velocity ,acceleration and power of the moving platform of it .At last , the maximum workspace of three -TPT parallel machine tool was stimulated by Matlab and measured its volume is 0.863 m³ .

Key words: Parallel machine tool, , Kinematics, , Workspace, , Matlab

程仙国, 赵恒华. 基于Mat lab 对3 -TPT 并联机床的运动学仿真[J]. 辽宁石油化工大学学报, 2008, 28(1): 19-22.

CHENG Xian -g uo,ZHAO Heng -hua . Kinematics Stimulation for Three -TPT Parallel Machine Tool Based on Matlab[J]. Journal of Liaoning Petrochemical University, 2008, 28(1): 19-22.

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