2-RPU/UPS并联机构自由度和位置分析  

Inverse Kinematics and Reachable Workspace Analysis of 2-RPU/UPS Parallel Mechanism

作　　者：胡健 宋胜涛[1] 李瑞琴[1] 李泽辉 HU Jian;SONG Sheng-tao;LI Rui-qin;LI Ze-hui(School of Mechanical Engineering,North University of China,Taiyuan 030051,China)

机构地区：[1]中北大学机械工程学院,太原030051

出　　处：《包装工程》2021年第7期214-219,共6页Packaging Engineering

基　　金：山西省青年科技研究基金(201801D221236)。

摘　　要：目的针对目前包装流水线末端需要对大量物品进行码垛和搬运,而生产线末端自动化程度不高等问题,提出一种2-RPU/UPS并联机构,并应用于包装流水线上后期物品拾取和码垛来提高工作效率。方法首先用SolidWorks软件画出机构的三维图,然后用螺旋理论对该机构进行自由度分析,并用修正的K-G公式对该机构的自由度进行验证。用封闭矢量法求出该机构的位置逆解,并根据位置逆解和该机构之间的相互约束条件,运用Matlab软件编程求出该机构的可达工作空间。结果2-RPU/UPS并联机构具有两转(绕x轴y轴的转动)一移(沿z轴方向的移动)3个自由度,拥有较大的工作空间,并且在运动过程中没有出现奇异点。结论该机构具有较大的工作空间,自由度多,运动灵活,运动性能良好,可以应用于包装领域的码垛与搬运。In view of the fact that a large number of articles in the packaging require stacking and handling,while the end of the production line automation degree is not high,a 2-RPU/UPS parallel mechanism is designed for sorting and picking in the packaging field to improve work efficiency.First,draw the 3D diagram of the mechanism with Solidwork software.Then the degree of freedom of the mechanism is analyzed according to the spiral theory,and it is verified by the modified K-G formula.Next,the closed position vector method is used to obtain the inverse position solution of the mechanism.According to the inverse position solution and the mutual constraint conditions between the mechanisms,the accessible working space of the mechanism is calculated by using Matlab software programming.The 2-RPU/UPS parallel mechanism has 3 degrees of freedom which include two revolutions(rotation around the x-axis,y-axis)and one movement(movement along the z-axis direction).It also has a large working space,and there are no ambiguities during the exercise.The mechanism has a large working space,many degrees of freedom,flexible movement,and good motion performance,and can be used for Stacking and handling in packaging field.

关 键 词：并联机构 自由度 位置逆解 MATLAB 工作空间 

分 类 号：TB486[一般工业技术—包装工程] TH112[机械工程—机械设计及理论]