3-PRS平行运动平台之工作空间、奇异曲面与刚性分析-高苑科技大学.PDF

高苑學報‧第十六卷第一期(2010/3) ‧第89～106 頁‧89 Analysis of Workspace 、Singularity and Stiffness for a 3-PRS Parallel Motion Platform 1* Yuan-Ming Cheng Department of Mechanical Automation Engineering, Kao-Yuan University, Kaohsiung, Taiwan 821, R.O.C. E-mail ：chengym@cc.kyu.edu.tw* Abstract The machining centers are trended to be the reconfigurable precision hybrid machine tools （RHMT ）to conduct the complexity and precision of future products. The machine centers integrate two mechanical models which are a parallel structure and a traditional X-Y table of CNC machine. The advantages of PMT which are high structural rigidity, high precision and small inertia are integrated with CNC machine mature ability of trajectory tracking. This hybrid mechanics that combines a 3-DOF parallel platform with CNC X-Y table can also be formed a 5-axis working machine. This study proposes a 3-axis AC servo motor parallel platform with intersecting rails. The 3-actuators are designed to be horizontally on the base platform with their extensions intersect in the base platform center. The forward kinematics, inverse kinematics and work space of this mechanism are established and the singularity distribution is investigated. Optimal maneuvering regions are recommended from the viewpoints of singularity and stiffness. Keywords: Parallel Mechanism, 3-DOF, Singularity, Motion Platform. 90 ‧3-PRS 平行運動平台之工作空間、 奇異曲面與剛性分析 3-PRS 平行運動平台之工作空間、奇異曲面與剛性分析 1 鄭淵明 1 高苑科技大學機械與自動化工程系