Research On Designing Theory And Method Of 2-PRR Parallel Machine Tool

In 1960's, Stewart platform was invented to flight simulator. In 1990's, Stewart platform was used to reconstruct conventional machine tool. Some prototype parallel machine tools were produced in United States, Japan, Russia and so on. There were also some prototype parallel machine tools which were produced in our country. But there are many problems needed to solve in the deficient DOF parallel machine tool. In this paper, the structure design and the accuracy analysis of the deficient DOF parallel machine tool are achieved, which provide the theories basis to parallel machine tool.On the basis of analyzing the phylogeny and the current situation inland and abroad of parallel machine tool, the kinematic analysis of 2-PRR parallel machine tool are studied. And the modularizing design and the accuracy annalysis of 2-PRR parallel machine tool are achieved. At last, the kinematic simulation of 2-PRR parallel machine tool is made. These main conclusions are as follows:1 , The research history of parallel machine tool is reviewed, and the development prospects are expected. The structural characteristic and the classification of parallel machine tool are generalized.2, The kinematic analysis of 2-PRR parallel machine tool are studied, and the kinematic positive and nagative solution equation is deduced. Then 2-PRR parallel mechanism is analysized according to the spatial-model theory, so the dimension models of every subordinate district are attained, and the singularities are avoided.3, According to designing thought from modularization, modularizing design of 2-PRR parallel machine tool is finished, the assembled types of parallel machine tool are given. And the primary type of 2-PRR parallel machine tool is designed to the 3-DOF parallel machine tool.4,The accuracy analysis of 2-PRR parallel machanism is expatiated on, and the interactional equations are established that both linkage rod and rotating pair gap are relative to endmost executor.5, The simulation model of 2-PRR parallel machanism is made to validate the movement of the machanism.These above research and conclusions are helpful for researcher to realize further the kinematicperformances, the operating performances etc of the deficient DOF parallel machine tool. And they offer theories to further research and development of parallel machine tool.