§1.1并联机床及其发展..........................................................................................1
§ 1.1.1并联机床及其特点................................................................................1
§ 1.1.2并联机床发展概述................................................................................2
§1.1.3并联机床的研究方向.............................................................................5
§1.2 少自由度并联机器人.....................................................................................6
§1.3并联机床工作空间研究现状..........................................................................8
§1.4本论文主要的研究内容..................................................................................9
第二章 平面三自由度并联机床的运动学研究..........................................................11
§2.1 平面三自由度并联机床的构型分析...........................................................11
§ 2.1.1分支运动链及机构的型......................................................................11
§ 2.1.2机构的组成元素与自由度..................................................................13
§2.2 三自由度并联机床的机构位姿分析...........................................................14
§2.3 3-DOF平面并联机床运动学方程...............................................................16
§2.3.1 运动学正解..........................................................................................16
§ 2.3.2运动学逆解..........................................................................................18
§2.4 机床位置求解的迭代搜索法.......................................................................20
§2.5 本章小结.......................................................................................................25
第三章 平面并联机床的工作空间分析......................................................................26
§3.1 概述...............................................................................................................26
§3.2 工作空间的描述与评价...............................................................................26
§3.3 机床工作空间分析.......................................................................................27
§ 3.3.1平面并联机床的可达工作空间..........................................................27
§ 3.3.2平面并联机床的灵活工作空间..........................................................32
§ 3.3.3定姿态工作空间..................................................................................34
§3.4 本章小结.......................................................................................................36
第四章 平面并联机床的奇异性分析..........................................................................37
§4.1 奇异位形的基本定义...................................................................................37
§ 4.1.1奇异构形分类......................................................................................37
§ 4.1.2奇异构形运动学原理..........................................................................38
§4.2 奇异位形的主要研究方法...........................................................................38
§4.3 Gosselin方法.................................................................................................40
§4.4 奇异性的规避...............................................................................................42
§ 4.4.1构型分岔现象......................................................................................43
§ 4.4.2通过奇异位置的构型模式..................................................................43
§4.5 本章小结.......................................................................................................44
第五章 平面并联机床运动仿真..................................................................................45
§5.1 并联机床主要零部件的三维建模...............................................................45
§5.2 机构虚拟装配及干涉检验...........................................................................46
§5.3 机构运动仿真分析.......................................................................................47
§5.4 本章小结.......................................................................................................51
第六章 论文总结与展望..............................................................................................52
§6.1 总结...............................................................................................................52
§6.2 有待进一步研究的工作...............................................................................52