| Stewart机床运动学分析 |
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| 引用本文： | 李桥梁,吴洪涛,李鹭扬,骆海峰,朱剑英.Stewart机床运动学分析[J].航空学报,1999,20(2):184-186. |
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| 作者姓名： | 李桥梁 吴洪涛 李鹭扬 骆海峰 朱剑英 |
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| 作者单位： | 南京航空航天大学机电工程学院, 南京, 210016 |
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| 摘 要： | 运用多体系统理论研究了6-SPS型Stewart机床机构和丰田型Stewart机床机构的运动学，建立了相应的零级（位姿）和一级（速度和角速度）运动学方程，获得了两种Stewart机床机构的雅可比矩阵。运用多体系统通用分析软件对Stewart机床的运动进行了仿真计算，为后续研究等奠定良好基础。
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| 关 键 词： | Stewart机床 运动学 多体系统 |
| 收稿时间： | 1998-05-20 |
| 修稿时间： | 1998-08-28 |
KINEMATIC ANALYSIS OF THE STEWART MACHINE TOOL |
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| Li Qiaoliang,Wu Hongtao,Li Luyang,Luo Haifeng,Zhu Jianying.KINEMATIC ANALYSIS OF THE STEWART MACHINE TOOL[J].Acta Aeronautica et Astronautica Sinica,1999,20(2):184-186. |
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| Authors: | Li Qiaoliang Wu Hongtao Li Luyang Luo Haifeng Zhu Jianying |
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| Institution: | Institute of Mechanical Engineering, Nanjing University of Aeronautics and Astromautics,Nanjing,210016 |
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| Abstract: | Because of some unique advantages, the Stewart machine tool is of attracting prospects and gaining widespread concern. With the help of the theory of kinematics on multi body systems, this paper analyzes the motion of typical types of Stewart machine tool mechanisms; equations of kinematics of Zero grade, First grade are established; Jacobian matrix is derived. A general multi body analysis software package is used to calculate and simulate the motion of the Stewart machine tool. |
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| Keywords: | Stewart machine tool kinematics multi body systems |
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