【摘要】 针对六自由度并联运动机床,论文首先运用MATLAB进行了运动学分析,求出了其运动学逆解模型,其次在UG软件中建立其三维模型,并将模型导入ADAMS软件中对其进行运动学仿真,得到杆件的运动仿真曲线,通过与MATLAB求解获得的理论曲线相比较,结果是吻合的,从而验证了逆解模型的正确性,为进一步在EMC开放式数控系统的运动模块中建立逆解模型奠定了基础。更多还原

【Abstract】 This paper analyzed 6-DOF parallel kinematic machine(PKM) kinematics character,solved its inverse model via MATLAB software and constructed PKM model under UG environment.Kinematics simulation was performed through introducing the model into ADAMS,finally rod kinematic simualtion curve was obtained.Through comparing simualtion curve with the theoretical one obtained from MATLAB,the curves matched each other well,which demonstrates that the inverse model’s correctness.Therefore,the inverse mathematics model in EMC(Enhanced Machine Controller) Open Numerical Control System kinematics module has been set up.更多还原