中文摘要：

三轴可调倾角非球面加工夹具可以消除楔形非球面加工中由于二次装夹而造成的误差且提高加工效率.为了精确控制工作台面倾角及位姿,根据机器人学中三自由度机械手臂的分析理论,建立夹具的D-H坐标系,进行正向、反向运动学分析,求解其雅可比矩阵,给出了工作台面与各运动构件之间位置、姿态、速度的关系,并运用ADAMS分析验证相关理论分析结果,为夹具控制软件的设计提供依据.

英文摘要：

3-axis CNC clamp with adjustable gradient can eliminate the error which caused by the twice clamping of workpiece and improve the quality and efficiency of wedge-shaped aspheric surface machining.In order to control the obliquity and pose of workbench surfaces accurately,the method of setting the clamp′s coordinate system has been put forward according to the theory of a robot′s 3-DOF mechanical arm.The equations of kinematics and Jacobi matrix for the clamp are solved base on the coordinate system.The relation of position,orientation and velocity between workbench surfaces and each motive joint are presented.Then comparing with the analysis result of theory and ADAMS simulation by some examples,and the final result is obtained.The theoretical basis of program design for control system of the clamp is provided,which made the clamp move in accordance with the requirements of machining.