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在Gough_Stewart平台一阶微分运动关系式的基础上 ,给出了机构末端执行器最大速度的上界 ;利用二阶微分运动关系式 ,导出了关节加速度与末端执行器速度之间的关系 ;讨论了机构基本构型参数对它们的影响规律 .在上述结论下 ,解决了基于Gough_Stewart平台数控机床设计中根据进给能力需求优化构型参数、确定关节伺服轴极限转速 ,以及在数控编程中由机床构型参数、关节伺服轴极限转速和加速度评价刀具进给能力的软极限的两类互逆问题 .
Based on the first order differential motion relation of Gough_Stewart platform, the upper bound of the maximum velocity of the end effector is given. The relationship between the acceleration of the joint and the velocity of the end effector is deduced by the second order differential motion relation. The structure of the basic configuration parameters affect them.In the conclusion, the solution based on the Gough_Stewart platform CNC machine tools to optimize the configuration parameters according to the feed capacity needs to determine the joint servo shaft speed limit, as well as in the NC programming by the machine tool Type parameters, the joint servo-axis speed limit and acceleration evaluation of the tool feed capacity of the soft limit of the two types of reciprocal problems.