【作者】 杨斌久；

【导师】 蔡光起；

【作者基本信息】 东北大学 ， 机械制造及其自动化， 2006， 博士

【摘要】 并联机床也称之为并联机器人机床，它是并联机器人技术在机床制造领域成功应用的范例。自1994年9月GINNINGS&LEWIS公司在美国芝加哥国际展览会上展出“VARIAS”样机以来，它从一出现就受到国内外众多学者的关注。在短短的10多年时间里，人们对并联机床的研究不断向纵深发展。并联机床技术已经从理论研究走向实际应用，而少自由度并联机床是近年来并联机床研究中的一个热点问题。国内外对少自由度并联机床的基础理论和应用研究，目前还很不充分。 本文是在国家“八六三”高新技术计划资助项目(863-512-30-07)——钢坯修磨机器人技术开发、国家自然科学基金(59875012)——三杆五自由度机器人化机床理论及样机研究等项目研究工作的基础上，针对少自由度并联机床的特点，就少自由度并联机床的构型设计、自由度配置、运动轨迹规划及仿真、动力学特性及动态仿真、静力分析及仿真、静刚度分析及仿真等方面进行了系统深入的研究。 (1) 综述了少自由度并联机床国内外研究发展现状，以及关键技术的研究进展，指出少自由度并联机器人理论及应用领域有待深入开展的研究方向。阐明了本课题研究的目的及意义。 (2) 研究了少自由度并联机床的构型设计方法及其约束链配置，论述了并联机床各分支链的运动约束对运动平台自由度的影响，提出了主动链和约束链的概念。在此基础上讨论了如何根据并联机床的自由度要求，确定约束链机构形式和各主动链运动副型式的问题。 (3) 讨论了各支链的自由度同关节自由度的关系，以及确定约束链机构和各主动链分支杆的关节型式等问题，提出了少自由度并联机床的自由度配置方法。 (4) 对东北大学研制的3-TPT并联机床，分析了其约束链对机床运动及动力学特性的影响，并在ADAMS机械动力学仿真软件上建立了仿真运动模型。获得了有关运动学及动力学特性曲线，为机器人机构设计和动力性能分析开辟了一条新路，解决了运动更多还原

【Abstract】 Parallel machine tool, namely so-called parallel robot, has been one successful paradigm that parallel robot technology is applied to manufacturing machine tools. Since GINNINGS&LEWIS Company displayed VARIAS sample on international exMbition in Chicago in September in 1994, it has being obtained comprehensive attention from domestic and alien scholars. In no more than ten years, the research works on parallel machine tools have developed longitudinally to the extent that the technology has attained actual utilization while limited- DOF parallel machine tool is a hotspot of research. The study on limited- DOF parallel machine tool is insufficient in fundamental theory and engineering application.This paper is on the base of national high technology project (863-512-30-07) -technological development in billet thinning robot, and national natural science fund (59875012) - theory research and prototype development on tri-shank robot with six DOF as machine tool. On above basis, configuration DOF and constitution design are studied according to the characteristics of no-full DOF parallel machine tool. Such aspects as the track programming of the movement and simulation, dynamical characteristic and analogue, static analysis and emulation, stiffness analysis and simulation have been investigated deeply and systematically.By investigating inland and outland research status quotation and critical technology, more exhaustive research direction is demonstrated in limited- DOF parallel robot theory and its application domain and the intention and significance on the project are interpreted.By studying the method to construction design and the influence of kinetic restriction of embranchment chain of limited- DOF parallel robot on motive platform DOF, and putting forward the definition on restriction chain and active chain, restriction chain structure and active chain kinematics pair are determined in the light of the DOF of parallel machine tool.Discussing the relation between’ respective embranchment chain DOF and joint DOF, and discerning restriction chain construction and active chain embranchment shank joint form, DOF configuration method of no-full DOF parallel machine tool is brought forward.After analyzing kinematics and dynamic character 3-TPT parallel machine tool developed by Northeastern University by its simulation model constructed in ADAMS, kinetic and dynamic curves are obtained. Those break a new path to Robert structure design and dynamic property analysis and resolve visualized motion.By the means of investigation for 3-TPT parallel machine tool developed by更多还原