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以北京某大学研制的BKX-I型并联机床为对象,用矢量法建立了并联机床的位置逆解方程。通过分析影响机床工作空间大小的结构约束条件,基于位置逆解方程推导了并联机床的定姿态工作空间求解过程,提出了一种基于柱坐标搜索法原理的工作空间数值求解方法。在此基础上,在MATLAB软件环境中对BKX-I型并联机床的定姿态工作空间进行了数值仿真与求解,得到了工作空间的三维图谱和定姿态工作空间的体积。仿真结果表明,该方法原理简单、效率高、仿真效果好,为后续深入研究奠定了基础。
A BKX-I parallel machine developed by a university in Beijing is used as an object to establish the inverse position equation of the parallel machine tool by the vector method. Based on the analysis of the structural constraints that affect the size of the machine tool workspace, the solving process of the stationary machine workspace of the parallel machine tool is deduced based on the inverse solution equation. A numerical method of working space solution based on the cylindrical coordinate search method is proposed. On the basis of this, numerical simulation and solving of the fixed working space of BKX-I parallel machine tool are carried out in MATLAB software environment, and the 3D map of work space and the volume of work space are obtained. The simulation results show that the method is simple in principle, high in efficiency and effective in simulation, which lays the foundation for further research.