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| Design of milling machine worktable based on parallel manipulators |
| XU Zi-Hong1, MA Lv-Zhong1, MA Xiao-Li1,2, TANG Wei-Xing1 |
1. College of Mechanical Engineering, Jiangsu University, Zhenjiang 212013, China；
2. Mechanical and Electrical Department, Quzhou College, Quzhou 324000, China |
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Abstract Based on motion output theory of parallel mechanism, and considering symmetry and decoupling property of its structure, a novel 3-DOF (two translations and one rotation) parallel robot mechanism was put forward. And then kinematics problems of position inverse modeling were presented and numerical solution was obtained by Matlab. Furthermore, the reachable workspace of this mechanism isdescribed by drawing method and factors influencing it were found. Its application on a milling machine is offered. This mechanism has good symmetry and decoupling property and gives convenience to system control.
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Published: 28 August 2007
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基于并联机构铣床工作台的设计
基于并联机器人机构的运动输出理论, 考虑结构的对称性和解耦性, 构造出一种新型的具有二平移一转动的三自由度并联机器人机构，给出了机构的运动学反解模型,并用MATLAB计算出其位置正解。以图解形式描绘该机构的可达工作空间，找出影响定姿态工作空间的因素，并提供了该机构在铣床上的具体应用实例。该机构良好的对称性和解耦性，为系统控制带来了方便。
关键词：
并联机构,
单开链,
运动学,
反解,
工作空间
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