1、幽碩士學位論文THESlSFORMASTER。SDEGREE淪義題目基于3TPS混聯(lián)機床的運動控制算法研究及軌跡仿真作肯吳丈強，：：院機械x程與自動化學院專、№機械制造及其自動化指導教師蔡光起教授史家順副教授二OO七年一HIj東北大學碩士擘住論文StudyonKinematicsControlAlgorithmsandTrajectorySimulationin3TPSHybridMachineT00lAbstract3TPShybri

2、dmachinetool(HMT、isanewparallelmachinetool(PMT)inwhichtheserialstructureisemphasized，Itcombinesserialandparallelstructure，notonlyinheritsthecharacteristicsofbigrigidity，highspeedandlargeworkspacefromthePMT，butalsorestric

3、tsthefreedomofthestructureandmakesthemovingplatformmovecompliantlybecauseoftheserialstructureFurthermore，asameasurechaintheserialstructurecanimprovethemovingprecisionofthemachinet001Atpresent，NortheasternUniversity’Sstud

4、yof3TPSHMTisbeinglucubratedBasedontheanalysingofstructureandtheCNCsystem，thisthesisstudiedthekinematicscontrolalgorithmsandsimulationof3TPShybridmachinet001Thedetailsofthestudyareasfollowing(i)Summarizedthedevelopmentoft

5、hePMTSummarizedtheapplicationofcomputersimulationtechniqueReviewedthestudy’Sbackgroundandstatusquoandilluminatedthesignificanceofthisthesis’Sstudy(2)Basedonthecharacteristicofthe3TPSHMTfoundedthekinematicsinversemodeland

6、forwardmodelofHMTBuildedtheparallelmachineandseriesmachine’Scoordinatetransformationkinematicsmatrix，whichprovidedfundamentaltheoryforthestudyof3TPSHMT’Skinematicscontrolalgorithms(3)Combinedwiththetheoryof3TPSHMT’Skinem

7、aticscontrol，foundedafeasiblepositioncontrolprojcotBasedOilthekinematicscontrolalgorithms，studiedtheposition—control’Salgorithmsof3axisandprocessing5axisprocessing，andgivedthemathematicsmodelofinterrelatedalgorithms，thus

8、providedacademicfoundationforfavoringexploitureofmachinetool’SCNC(4)Ascertainedtheprojectof3TPSHMT’Smodelingandassembling，foundedthethreedimensionalgeometricalmodelofmainmachinetool’SpartsandassembletheminOpenGL，discusse