东北大学学报（自然科学版）

东北大学学报(自然科学版) ›› 2005, Vol. 26 ›› Issue (7): 670-672.DOI: -

• 论著 • 上一篇    下一篇

一种并联运动机床的轨迹规划

杨斌久;蔡光起;罗继曼;石宏   

  1. 东北大学机械工程与自动化学院;东北大学机械工程与自动化学院;东北大学机械工程与自动化学院;东北大学机械工程与自动化学院 辽宁沈阳　110004
  • 收稿日期:2013-06-24 修回日期:2013-06-24 出版日期:2005-07-15 发布日期:2013-06-24
  • 通讯作者: Yang, B.-J.
  • 作者简介:-
  • 基金资助:
    国家高技术研究发展计划项目(863 9803 05)

Trajectory planning and simulating of 3-TPT parallel machine tool

Yang, Bin-Jiu (1); Cai, Guang-Qi (1); Luo, Ji-Man (1); Shi, Hong (1)   

  1. (1) School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110004, China
  • Received:2013-06-24 Revised:2013-06-24 Online:2005-07-15 Published:2013-06-24
  • Contact: Yang, B.-J.
  • About author:-
  • Supported by:
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摘要： 针对东北大学开发研制的3 TPT并联运动机床进行了研究·首先进行了机构的结构分析,论述了该并联机构具有三维移动即平动的运动特征,然后对并联机床进行了位置分析,给出了位置正反解,得出了移动平台按预期运动规律运动时应该施加在原动件伸缩杆上的运动规律,最后,基于ADAMS虚拟样机技术,创建了3 TPT并联运动机床的虚拟样机模型·通过虚拟样机的运动仿真,对所规划的运动轨迹进行了验证·

关键词: 并联机器人, 轨迹规划, 虚拟样机, 建模, 运动仿真

Abstract: The 3-TPT parallel machine tool developed by Northeastern University was investigated. Based on a structure analysis, the 3-TPT parallel mechanism shows the translation as its kinematic feature. The position equation is given as well as both the direct and inverse kinematic solutions to it. How the telescopic rod of driving link moves due to the movable platform which is moving in accordance to a planned movement was discussed and proposed. The planned trajectory was verified via a kinematic simulation done for the virtual prototype. The results showed that the way proposed to plan the trajectory is simple to implement with favorable applicability.

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