3-UPS/RPP并联机构设计与运动特性研究  

Research of Design and Kinematic Characteristic of a 3-UPS/RPP Parallel Mechanism

作　　者：吴范徐齐 许蔷[1] 刘生 顾明明 Wu-Fan Xuqi;Xu Qiang;Liu Sheng;Gu Mingming(School of Mechanical and Electronic Engineering,Nanjing Forestry University,Nanjing 210037,China)

机构地区：[1]南京林业大学机械电子工程学院,江苏南京210037

出　　处：《机械传动》2020年第5期59-64,共6页Journal of Mechanical Transmission

摘　　要：设计了一种可以实现两移一转的新型3自由度并联机构3-UPS/RPP。该结构在传统的3-UPS结构基础上加入了一条RPP结构的约束支链,应用螺旋理论分析约束链得知,该3-UPS/RPP并联机构可实现平面内的一维转动和二维移动。在自由度分析的基础上,构建了3-UPS/RPP并联机构的运动学模型,通过对驱动支链和约束支链的分解分析,给出了3-UPS/RPP并联机构位置逆解的解析表达;随后,基于位置逆解结果,确定了工作空间的搜索流程,并据此在Matlab软件中求解了该机构的工作空间;最后,对该3-UPS/RPP并联机构进行了运动学控制仿真。结果表明,系统具有较高的动态轨迹跟踪控制精度,适用于实际应用。A new 3-DOF parallel mechanism 3-UPS/RPP is designed,which can realize two shifts and one rotation.Based on the traditional 3-UPS structure,a constrained branched chain of RPP structure is added to the structure.The spiral theory is applied to analyze the constrained chain.It is found that the proposed 3-UPS/RPP parallel mechanism can realize one-dimensional rotation and two-dimensional movement in the plane.On the basis of degree of freedom analysis,the kinematics model of 3-UPS/RPP parallel mechanism is further constructed.Through the decomposition analysis of driving and constrained branching chains,the analyt ical expression of inverse solution of position of 3-UPS/RPP parallel mechanism is given.Based on the results of inverse solution of position,a workspace search process is constructed,and the workspace of the mechanism is solved in Matlab software.Finally,the kinematics control simulation of the 3-UPS/RPP parallel mechanism is carried out.The simulation results show that the system has high dynamic trajectory tracking control accuracy and is suitable for practical application.

关 键 词：并联机构 位置逆解 工作空间 运动学控制 

分 类 号：TH112[机械工程—机械设计及理论] TP273[自动化与计算机技术—检测技术与自动化装置]