【摘要】 提出了一种能实现沿y轴、z轴移动和绕x轴、y轴转动的新型4自由度部分解耦并联机构,将该并联机构辅以能实现主轴x轴移动和x轴转动的动平台,共同组成一种新型并联机床构型;此机床机构特为涡轮叶片加工而设计。对机构进行了运动学分析,得到了运动学方程和雅可比矩阵;使用几何方法对机构的工作空间进行了分析,利用雅可比矩阵证明工作空间没有奇点,并获得了给定任务下的机构执行器所需行程长度。更多还原

【Abstract】 A new 4-DOF partially decoupled parallel mechanism which can move along the y-axis,zaxis and rotate around the x-axis and y-axis is proposed. The mechanism is supplemented by a moving platform which can move the x-axis and rotate the x-axis of the spindle. The mechanism is designed for machining turbine blades. The kinematics analysis of the mechanism carried out,the kinematics equation and Iacobian matrix are obtained. The workspace of the mechanism is analyzed by using the geometric method,the Jacobian matrix is used to prove that the scheme has no singularities in its workspace,the required stroke length of the actuator for the defined task is obtained.更多还原