The Design On Structure Size Of Six Bar Parallel Machine Tool

The parallel machine tool is a new concept of machine tool which is based on spatialparallel mechanism Stewart platform principle.It is a combination of robot technologyand machine structure technology and gradually becomes a hot topic for its advantagesof stiffness, load ability, high speed and acceleration, simple structure, etc.The machine working space is the work area of the machine operators and alsodetermines the overall dimensions of parallel machine and the area that it can achieve.In This paper,taking the6-SPS parallel machine for example,we studied the workingspace inversion problem, that is designing the machine work structure dimensionsaccording to the given working space.First of all, we executed kinematics analysis on the6-SPS parallel machine.Secondly, we analysed the parallel machine’s actual working space and regulated itto rotating parabolic with the workspace Envelope and established the its mathematicalmodel.Combined with the parallel mechanism position inversion’s simple and uniquecharacteristic and considering the influence of the pole length on the parallel machineworking space, we preliminary screened radius of the moving and fixed platforms andthe height of the workbench platform according to the given working space and wrotethe software for the position inverse and pole length using MATLAB to design theparallel machine tool structure size.Finally,we verified the correctness of the inverse model theory and solved interferenceproblems of all the components..Eventually we got the6—SPS parallel machine toolstructure dimensions meeting the given working space and without interference.