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提出了一种以新型三自由度冗余驱动并联机构4-PRP作为定位模块,串联上三自由度并联机构3-UPS&PU来共同实现六自由度运动的新型混联机床的机构设计方案。首先,运用螺旋理论分析了该机床实现3T3R运动原理,计算出该机构的自由度。然后,利用解析矢量法及几何关系建立机构位置逆解方程,运用影响系数法建立了一阶运动影响系数矩阵—Jacobian矩阵和二阶影响系数矩阵—Hessian矩阵,建立了完整的运动学模型。最后,应用MATLAB对逆解方程进行求解并利用ADAMS对求解结果进行仿真验证,验证了运动学模型的正确性及机构的可行性。
A novel design scheme of a new hybrid machine tool with 3-DOF 3-DOF parallel mechanism 4-PRP as positioning module and 3-DOF parallel mechanism 3-UPS & PU to realize six degrees of freedom movement was proposed. First of all, using the spiral theory, the machine tool to achieve 3T3R motion principle, calculate the freedom of the mechanism. Then, by using analytic vector method and geometric relation, the inverse kinematics equation of mechanism is established. The first-order kinematic influence coefficient matrix-Jacobian matrix and the second-order influence coefficient matrix-Hessian matrix are established by using the influence coefficient method, and a complete kinematic model is established. Finally, using MATLAB to solve the inverse solution equation and using ADAMS to simulate the solution, the correctness of the kinematic model and the feasibility of the mechanism are verified.