摘要本文的主要内容包括以下几个方面：论文设计的串并联机床机构由两部分组成，为传统五坐标机构及以并联机构为主要部分的串并联机构。根据并联机床工作原理，针对六自由度并联机构，选择和设计其工作机构，对其机构进行运动学分析与仿真。首先在Matlab软件中建立并联机构逆解数学模型，然后通过欧拉角坐标变换法对所建立的数学模型进行求解，得到用于控制刀具运动给定轨迹时的杆长变化及六杆角速度变化函数。43624

在完成并联机床机构部分的运动学逆解分析之后，在Pro/Engineering软件中建立整个串并联机床机构的三维模型，随后将模型以parasolid格式导入ADAMS软件中，并对其进行运动学分析与仿真，得到刀具运动给定轨迹时杆件的运动仿真曲线，与MATLAB中求解获得的理论曲线进行比较，两者结果是一一对应的，验证了此逆解模型是正确的。最后再将各杆运动仿真得到的曲线生成样条曲线反加到各杆上，进行正解模型的仿真。

毕业论文关键词： 并联机床；逆解模型；运动仿真

Abstract The paper is focused on the following pionts: The Series-parallel Machine Tool in this paper is consisted of two parts, they are the traditional five-axis mechanism and the series-parallel mechanism which takes parallel kinematics machine as the principal thing. Based on the working principle of paralle machine tool, this paper selects working bodies for the 6-DOF parallel kinematics machine, and then do the kinematic analysis and simulation. This paper solves its inverse model via MATLAB software. The mathematic model which used to control toolpath is completely ascertained with the method of Euler parameter transformation. 

After the analysis of the kinematics inverse transformation, this paper constructs model of the Series-Parallel Machine Tool under Pro/Engineering environment. Then kinematics simulation is performed through introducing the model into ADAMS with the format of parasolid, finally rod kinematic simulation curve is obtained. By comparing simulation curve with the theoretical one obtained from MATLAB, the curves match each other well, which demonstrates the correctness of the inverse model. Finally, the positive model is solved by apply spline curve which is generated from the rod kinematic simualtion curve to each pole.

Keywords：parallel kinematic machine; inverse model; kinematic simulation

 目     录

第1章 绪论 1

1.1 并联机构的产生及其现实意义 1

1.1.1 选题背景 1

1.1.2 现实意义 1

1.2 本课题国内研究现状与发展趋势 2

1.2.1 国外并联机床的发展现状 2

1.2.2 国内并联床的发展现状 4

1.2.3 并联机床的研究及发展趋势 5

1.3 本文的研究目的和研究内容 5

1.3.1 研究目的 5

1.3.2 研究内容 5

1.4 全文安排 6

第2章 串并联机床机构的方案设计