三自由度并联物料振动分拣平台机构设计及运动仿真  

Mechanism design and kinematics simulation of 3-DOF parallel material vibration sorting platform

作　　者：谢俊[1] 刘月[1] 肖朝蓬 杨启志[1] 邓辉[1] 

机构地区：[1]江苏大学智能机械与机器人研究所,江苏镇江212013 [2]昆山市佰奥自动化设备科技有限公司,江苏昆山215311

出　　处：《工程设计学报》2013年第6期501-506,共6页Chinese Journal of Engineering Design

基　　金：国家自然科学基金资助项目(50905077);高等学校博士学科点专项科研基金资助项目(2009327120007);江苏省博士后基金资助项目(0901010B);江苏大学高级人才启动基金项目(05JDG015)

摘　　要：为解决传统物料振动分拣平台无法实现多维振动的问题,提出了一种三自由度并联物料振动分拣平台,可满足物料振动分拣需要.该机构由共面的2条(P-R-U)支路及1条(P-R-C)支路组成,可实现动平台沿x,z轴的平移和绕x轴的转动.应用D-H矩阵对该并联机构进行运动学建模,通过运动学正、反解理论分析,建立机构输入、输出变量间运动学解析表达式.运用Matlab对位置正解进行计算,通过Mech/Pro接口软件将Pro/E中建立的模型导入ADAMS中进行运动仿真,并将计算结果与仿真结果进行分析和对比.两者结果相同,验证了结构分析及位置求解的正确性.In order to solve the problem that traditional material vibration sorting platform cannot complete the multi-dimensional vibration, a kind of 3-DOF parallel material vibration platform was designed to satisfy the requirement. It consists of two branches of （P-R-U） in the same plane and one branch of （P-R-C）. The moving platform can translate along x,z axis and rotate on x axis. D-H matrix was applied to establish the kinematical model of the mechanism. The analytical ex- pression between input variables and output ones was established by the analysis of the positive and inverse solution of theoretical position. The positive solution of position was calculated by Matlab. The mechanism was modeled by Pro/E and was imported with Mech/Pro interface soft- ware into ADAMS for kinematics simulation. By analyzing and comparing the theoretical calcu- lated result and the simulated one, the same outcome confirms the correctness of the analysis of mechanism and the positional calculation.

关 键 词：并联机构 振动分拣 三自由度 位置分析 运动学分析 

分 类 号：TH112[机械工程—机械设计及理论]