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Kinematic Analysis of the SPKM165, a 5-Axis Serial-Parallel Kinematic Milling Machine

机译：5轴串并联运动铣床SPKM165的运动学分析

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摘要

This paper analyzes the kinematics of a 5-axis serial-parallel kinematic milling machine, i.e., the SPKM 165, which consists of a three-DOF (degree of freedom) parallel module and a two-DOF serial table. In order to achieve 5-axis control, the inverse kinematic equations are derived and corresponding coordinate system is established. The relationship between the NC-code and the operating attitude of the machine is shown and the numerical results are presented.
机译：本文分析了5轴串并联运动铣床（SPKM 165）的运动学，该机床由一个3自由度并行模块和一个2自由度串行工作台组成。为了实现五轴控制，推导了逆运动学方程，并建立了相应的坐标系。给出了NC代码与机器操作姿态之间的关系，并给出了数值结果。

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  • 来源
    《Intelligent robotics and applications》|2009年|P.592-602|共11页
  • 会议地点 Singapore(SG);Singapore(SG)
  • 作者

    Fugui Xie; Xinjun Liu; Jinsong Wang; Liping Wang;

  • 作者单位

    Institute of Manufacturing Engineering, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, China;

    Institute of Manufacturing Engineering, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, China;

    Institute of Manufacturing Engineering, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, China;

    Institute of Manufacturing Engineering, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, China;

  • 会议组织
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 机器人技术;
  • 关键词

    kinematics; five-axis mechanism; parallel kinematics; NC-code;

    机译：运动学五轴机构；并联运动学NC代码;

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