以一种新型三自由度并联机床为研究对象,建立了该机床的运动学正、反解方程,推导出了该机床的雅可比矩阵及雅可比逆矩阵,并在此基础上对该机床的奇异性及平稳性进行了研究,仿真出了该机床各驱动杆伸缩速度变化曲线.该研究为并联机床结构最优化设计及性能分析提供了一定的理论依据.%This paper takes the particular structure of three DOF parallel machine tool as the object of study, establishes the positive and negative solution of kinematic equations and on the basis of Jacobian matrix and Jacobian inverse matrix, researches on the singularity and stationarity of the machine then, simulates the velocity distribution curves of telescopic driving links of the machine tool. The study provides the theoretical basis for the structural optimum design and performance analysis of parallel machine tool.
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