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工作空间是并联构型装备性能评价的一项重要指标。基于逆运动学模型,给出新型三坐标并联动力头A3头的可达工作空间和灵活工作空间的定义,并根据工程实际限制,列出了杆长、关节转角、电主轴干涉和奇异性等约束条件,进而利用数值搜索法确定出满足约束条件的工作空间和灵活工作空间的边界,为动力头的详细结构设计提供了理论依据。
Work space is an important indicator of the performance evaluation of parallel configuration equipment. Based on the inverse kinematics model, the definition of the reachable working space and flexible working space of the new three-coordinate shunting power head A3 is given. According to the actual engineering constraints, the rod length, joint rotation angle, spindle interference and singularity Constraints, and then use the numerical search method to determine the boundaries of the work space and flexible work space to meet the constraints, providing a theoretical basis for the detailed structural design of the power head.