Performance Analysis Of A Novel 5-DOF PMT

The thesis analyses the kinematics, dexterity, singularity and accuracy of a 5 axis standing virtual CNC machine tool which is based on a novel 5-DOF parallel mechanism systematically.The constitutes and characteristic of the PMT is introduced. The degree of freedom of the mechanism is calculated using formula of the degree of freedom and screw theory respectively. The kinematics analyses of the constraint limb and driving limbs are taken in. The inverse kinematics solution of the driving limbs is given.Velocity Jacobian matrix and force Jacobian matrix of the PMT are educed. The condition numbers of the Jacobian matrix are analyzed to judge velocity transfer performance and force transfer performance between joint space and working space. The three dimensions drawings are drew by Matlab to make analysis visual. Judge flexible workspace using optimizing performance and checking isotropy of flexible workspace's boundary. Because the measurements of the linear velocity and the angular velocity are different, they are considered respectively. The velocity transfer performance and the force transfer performance are considered synthetically to optimize configuration parameters.When the joints' distribution of the fixed platform and the moving platform are equal, judge the location is or not singularity. Regard the determinant values of the Jacobian matrix in flexible workspace as estimate guideline, which reduces extremely calculation that has been implemented in the singularity analyses of the 5-DOF parallel mechanism.Analyze errors modeling methods at home and abroad, and erect errors model of the parallel mechanism using matrix methods. The influence of legs' tolerance and spherical joints' (Huke joints) clearance on errors of terminal platform is analyzed using Monte-Carlo technique.