机器人2009，Vol.31Issue(6)：529-534,6.
一种新型并联机床的驱动输入选择
Actuating Input Selection of a Novel Parallel Machine Tool
摘要
Abstract
Based on the screw theory, the constraint screws acting on the moving platform can be got when the pairs, which can be acted as actuating input pairs in all limbs of the parallel machine tool (PMT), are locked. The same amount of constraint screws as the degree-of-freedoms of the mechanism are selected to constitute the constraint matrix with the structure constraint screw inherent in the mechanism. The rationality of input selection can be judged by the rank of the constraint matrix. The constraint force/torque dexterousness is defined as the ratio of minimum singularity value to maximum one of the force/torque constraint matrix, by which the performance of the combinations of actuating inputs are evaluated. The result of actuating input selection shows that there are 5 kinds of reasonable actuating input combinations in 5-UPS/PRPU PMT, and the actuating input combination of the 5 prismatic pairs in UPS limbs is the best one.关键词
并联机床/螺旋理论/驱动输入选择/约束力/力矩各向性度Key words
parallel machine tool/ screw theory/ actuating input selection/ constraint force/torque dexterousness分类
信息技术与安全科学引用本文复制引用
高建设,刘德平,杨杰伟,赵永生..一种新型并联机床的驱动输入选择[J].机器人,2009,31(6):529-534,6.基金项目
河北省自然科学基金资助项目(503287) （503287）
郑州大学机械学院青年基金资助项目. （）
