摘要并联机床（Parallel Machine Tools）,又称并联结构机床（Parallel Structured Machine Tools）、虚拟轴机床（Virtual Axis Machine Tools）。也曾被称为六条腿机床、六足虫（Hexapods）.并联机床是基于空间并联机构Stewart平台开发的，它是并联机器人机构与机床结合的产物，是空间机构学、机械制造、数控技术、计算机软硬技术和CAD/CAM技术高度结合的高科技产品。49633

对于加工船用螺旋桨用的并联机床，以应用最为广泛的Stewart机构为原型，结合螺旋桨的设计加工要求，设计出满足要求的机床机构。由螺旋桨的大小分析并联机床的空间，并确定运动副的类型，动平台和定平台等各个构件的空间位置。然后，在三维造型软件中进行机构方案设计，对并联机床多体系统进行抽象，用标准的运动副、驱动约束等要素构建与实际机械系统一致的物理模型。将UG建立的三维模型导入虚拟样机软件ADAMS中，根据螺旋桨的轮廓曲线对机构进行动力学分析，模拟机构在特定加工条件下的工作状态，为今后试验样机的设计研发提供参考。

毕业论文关键词  并联机床；UG建模；运动仿真；动力学分析

 Abstract

Parallel Machine Tools is also called Parallel Structured Machine Tools, Virtual Axis Machine Tools, is also called Six Legs Machine Tools, Hexapods. Parallel Machine Tools is developed basing on principle of spatial parallel-mechanisms Stewart platform, which is the product of Parallel Robotic Mechanisms and machine tools. And parallel machine tools is high-tech products of powerful mixture of spatial mechanisms, Mechanical Manufacturing, control technique, computer soft-hard wares technology and CAD/CAM technology. 

Parallel Machine Tools is used for processing of marine propeller, as the prototype of the most widely used Stewart institutions, combined with the propeller design and processing requirements, it was designed to meet the requirements. According to the size of the propeller analyze the space of Parallel Machine Tools, and determine the type of kinematic pair ,the spatial location of the moving platform ,the fixed platform ,and so on the various components. Then, in the three-dimensional modeling software mechanism scheme was designed, and the multi-body system of Parallel Machine Tools was abstracted.  Physical model was constructed to consistent with the actual mechanical system with standard kinematic pair, drive constraints and other factors. Three-dimensional modeling created by the UG into virtual prototyping software ADAMS, dynamic analysis of the institutions according to the outline curve of the propeller, simulate the state of the work institutions in specific processing conditions, to provide a reference for future experimental prototype design and derelopment.

Keywords parallel kinematic machine; modeling; kinematical simulation; dynamic analysis 

目       录

第一章 绪论                                           1

1.1 研究背景与现实意义                                              1

1.1.1 研究背景                                                   1

1.1.2 现实意义                                                   3

1.2 国内外研究现状及发展趋势                                        4