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Abstract: To
solve the problems that the relationship between the input and output
velocity of the five axes parallel machine tool can not be obtained
directly just using the velocity vector-loop method for the
non-independent movement of its angular velocity’s components, and the
existence of constrained output moment which can not be balanced by the
input forces would increase the difficulty in analyzing the relationship
between the input forces and output force and moment. The movement
characteristic of the moving platform is analyzed and the relationship
of the angular velocity’s components is found. Then the relationship
between the input and output velocity of the five axes parallel machine
tool is derived. Analyzed the constrained output moment which
contributes no virtual work and taken out it from the output moment the
relationship between the input forces and output force and moment of the
five axes parallel machine tool can be obtained according to the
principle of virtual work. The method presented has great reference
value for the further study of 5-DOF parallel machine tools or parallel
mechanisms.
Key words:Parallel
machine tool Non-independent movement Velocity vector-loop method
Principle of virtual work
CLC No: TP24
国家杰出青年基金(50125516)和天津市自然科学重点基金(043801811)资助项目.
Received
20051005, received in revised form 20060320
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