六自由度协作并联加工机床的分析及优化.pdf

Abstract Abstract This thesis presents a novel 6-DOF cooperative parallel manipulator (CPM) assembled by two independent 3 DOF parallel manipulators (PM) in a certain way that can complete tasks through relative motion, which provides broader working space, higher stiffness and better controlability for high precision machining demands compared to traditional parallel kinematic machines. The kinematical architecture and mobility of the two 3 DOF parallel manipulators are firstly stated, followed by kinematic modeling including inverse kinematics analysis and numerical simulation, research of workspace through three dimensional search method on MATLAB platform and stiffness analysis through establishing global Jacobian matrix. Finally the CPM’s static stiffness and modal analysis are conducted on ANSYS together with structure parametric optimization. Specific content as follows ： Cooperative parallel manipulator consist two modules—PMs, which are designed by screw theory. Each of the PMs has 3 DOFs, that is the upper 3-PSC/PU PM called tool system can rotate around x, y axis and stretch out/draw back along z axis; the lower one 3-PU*R PM called work piece system is able of translation along x, y, z axes. The purpose is enlarging work space and increasing the overall stiffness of machine tool of CPM. Inverse kinematics is solved of these two PMs and numerical analysis is conducted in MATLAB and ADAMS respectively, which lays a foundation for w