First, the reverse solution model of position, velocity and acceleration of parallel kinematic machine is deduced including parallelogram strut structure and the outer translation pair driving fashion. Based on the above, its rigid dynamic model is set up by using the virtual work principle. 首先导出了外移动副驱动,含平行四边形支链结构的并联机构位置、速度及加速度逆解模型,并利用虚功原理建立其刚体动力学逆解模型。
Based on the structure model of a 6-TPS parallel kinematic machine tool ( PKM ) with 6-freedom degree, the developing thinking and the structure of G-codes programming software for PKM are introduced, and the principle for generating collision-free cutter location data was developed. 以6-TPS型并联机床为结构模型,阐述了面向并联机床的G代码编程软件的开发思想和软件结构,以及无干涉刀位文件的生成方法。