A Space Of Three Degrees Of Freedom Translational Parallel Machine Tool Research

Forward kinematics . workspace and singularity are three of the biggest problem in parallel kinematic manipulator. These problem can be solved well in the dissertation on 3UPU, which is the basis of study and application.At the aspect of kinematics, forward and inverse displacement of similar platform 3UPU is studied using vector method and the result is a quadratic equation. The singular position of similar platform 3UPU reached by algebraical method is identical to the position of general 3UPU analysized by vector method. The workspace of similar platform 3UPU is the workspace intersection of three open chains, which is a cone approximately. The emulation software basing on VC++ and Open GL can simulate workspace and producing workpiece.At the aspect of CNC hardware, principal and subordinate structure is adopted, in which IPC works as principal computer and motional controller acts as subordinate computer. CNC software is designed using modularized structure, including general module, man-machine interface module, pretreatment module, explaining and executing command module and so on.