【摘要】 为实现大型细长类整体结构件的多轴联动加工,提出了一种新型((3-RPR+R)&UPS)+P的5自由度混联机床机构,利用解析矢量法建立了该混联机床机构逆解运动学模型;在此基础上,根据运动影响系数法得到了其1阶、2阶运动影响系数矩阵,建立了更为完整的逆解运动学模型;运用Matlab对该混联机床机构逆解运动学模型进行求解,并利用Adams进行了仿真,其结果基本一致,验证了建立的该混联机床机构逆解运动学模型的正确性。更多还原

【Abstract】 the new((3-RPR+R)&UPS)+P hybrid machine tool mechanism with five degrees of freedom is proposed The inverse kinematics model of the hybrid machine tool mechanism is established by using analytic vector method,and on this basis,the first-order and second-order kinematic influence coefficient matrices are obtained according to the kinematic influence coefficient method,and a more complete inverse kinematics model is established.Finally,the inverse kinematics model of the hybrid machine tool mechanism is solved by Matlab and simulated by Adams,and the results are basically consistent,which verifies the correctness of the inverse kinematics model of the hybrid machine tool mechanism.更多还原