【作者】 李琨杰；

【导师】 牛志刚；

【作者基本信息】 太原理工大学 ， 机械制造及自动化， 2007， 硕士

【摘要】 为了适应不断发展的市场需求，人类一直在探索和研制新型制造设备。20世纪九十年代以来，并联机床的出现，被誉为“机床机构的重大革命”，并联机构机床现在已成为机床的研究热点。本文介绍了国内外并联机构机床的最新研究状况，应用领域和发展趋势，提出3—PRS并联结构主轴概念。3-PRS并联结构主轴是一种以并联机构为结构件的3自由度主轴部件，可应用于快速组建多坐标的数控机床。具有成本低、结构刚度高、运动速度和加速度高、惯性低的优点。为了分析并联机构的运动学逆解，本文先建立主轴的数学模型，即确定各个杆件的尺寸长度、运动副的类型、基础平台和动平台等各个构件的空间位置，还定义了动坐标系和静坐标系。然后计算3-PRS并联机构具有三个自由度，即沿着Z轴平动和绕着X、Y轴转动。接着，以动坐标系为参数利用并联机构运动学理论，推导出刀具在空间任意点并联机构各构件的位姿和各个运动副的位置函数，即3-PRS并联机构的运动学逆解，并用运动学逆解函数对直线、圆、空间螺旋线进行轨迹规划。在完成运动学逆解分析后，对并联结构主轴进行运动学动画仿真，在VC++的环境下，调用OpenGL函数库中的图形函数建立了主轴的三维模型和仿真的三维场景。根据直线，平面圆和空间螺旋线轨迹规划数据，调用OpenGL双缓冲动画、矩阵变换和显示列表等功能函数，实现3-PRS并联结构主轴三维动画仿真。通过对并联结构主轴运动学逆解的三维模型的动画仿真，使复杂的空间机构运动可以直观的表现出来，为运动干涉检验、运动空间分析和数控程序编制提供了条件，是并联结构主轴概念设计重要的组成部分，对优化并联结构主轴设计有很大的意义，更多还原

【Abstract】 In order to adapt to the increasing needs of the market, human beings always devote themselves to research and produce the manufacturing equipments of new type. When the parallel mechanism was produced in 1990s, it has become the hot spot in the research of the machine tool, and praised as "the great revolution of the mechanistic tool". In the paper,the write mainly introduces the latest situation of the parallel mechanism research home and abroad, its using field and the development trend as well. Moreover, the writer put forward the concept of 3-PRS Parallel Structure Axis.3-PRS parallel structure axis are that one kind takes parallel organization as structure 3 liberty degree chief axis component of piece, but apply to the numerical control machine tool forming many coordinates rapidly. and introduces some of its advantages, such as simple structure, low cost, high speed of produce, low inertia, and so on.In the paper, the writer establishes a mathematical model of the principal axis firstly for analyzing the Inverse kinematics of the parallel machine. In this step, it needs to assure the size and length of each structural member, the type of the movement, as well as the LOCA of the basic and mobile platform and all of the structural members. Then, the writer give the definition of the Mobile and Base coordinate system, at the same time gets the result that the 3-PRS principal axis of the parallel mechanism owning three DOFs by computing. In other words, it moves along the Z axis and turns around the X and Y axis.. Next, the discussion on the Inverse kinematics of the 3-PRS principal axis of parallel machine is based on Mobile coordinate system.. The Trajectory planning of the line, circle and spire can be drawn by using the model of the Inverse kinematics.The simulation of the principal axis in the kinematics animated way is proceeded, after the Inverse kinematics analysis. In the situation of the VC++, it needs to invoke the figure function from the OpenGL function Library for establishing the three-dimensional model of he principal axis. and the simulation environment The principal axis 3d animation simulation can be realized by availing OpenGL function of double buffering, transferring matrix and displaying list, based on the data of The Trajectory planning of the line, circle and spire.The complicated movement of the space mechanism can be shown directly through the three-dimensional entity model animation simulation of the principal axis, which provides condtion to space analysis and numerical control procedure establishment .It is the important segment in the optimizing parallel structure axis.更多还原