激光加工用三平移并联机床的分析与研究

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A laseer manipulator based on three-degree-of-freedom parallel structure is proposed here. The composition of the parallel mcu：hine tool and the connection between the parts are introduced.The de- gree of the parallel structure is solved by using the theory of topology structure of robot mechanisms.By es- tablishing the rod length constraint equation,position inverse kinematics is provided.By analyzing the pa- rameter of the machine tool structure ,the workspace of lazer tooling point is presented.Precision analysis is also solved by establishing the error model of geometric parameters.Then all of these could provide a theo- retical basis for motion control and processing.设计与研究了一种用于激光加工的三平移并联机床。介绍了并联机床的组成及部件间的连接关系。通过应用并联机构拓扑结构理论对并联机床的自由度进行了分析，得出其自由度输出为三平移。通过建立杆长约束方程，得到并联机床机构的运动学位置逆解方程。应用几何法对并联机床工作空间进行了分析与求解，并得出工作空间与机床机构参数之间的关系。通过建立并联机床的几何参数误差模型，得到机床动平台的输出位置误差，进而为并联机床生产和运动控制提供理论依据。