【摘要】 提出了一种新型的 2TPT -PTT三平移自由度并联机床构型·建立了运动学方程 ,给出运动学方程的正、逆解·通过对雅可比矩阵及其逆矩阵的研究 ,分析了机构的奇异性及各杆的速度·在Solidworks和visualNastrandesktop环境下建立其三维实体运动模型 ,并对各杆在三维空间内速度变化做了进一步研究·研究结果表明 :对运动学方程所求正、逆解及雅可比矩阵正确 ,该机构具有结构紧凑、运动平稳、不存在奇异点、易于控制等优点 ,为并联机床的机构设计提供了一定的理论基础·更多还原

【Abstract】 A novel 2TPT PTT three degree of freedom translational parallel machine tool was assumed. Gives out the kinematics equation and the inverse and forward solutions were given. The singularity of mechanism was analyzed by the Jacobian matrix. The velocity of each leg was researched by inverse Jacobian matrix. Its three dimensional model was received in Solidworks and visualNastran desktop. The velocity of legs was studied in three dimensional space. The kinematics inverse and forward solutions and Jacobian matrix are correct. This mechanism is compact conformation,stable,non singularity and easy to be controlled.更多还原