基于2-RPS/UPRS并联机构的自动分拣机运动分析  

Kinematics Analysis of Automatic Sorter Based on 2-RPS/UPRS Parallel Mechanism

作　　者：马振东 马春生[1] 米文博 尹晓秦 程芳[1] MA Zhen-dong;MA Chun-sheng;MI Wen-bo;YIN Xiao-qin;CHENG Fang(North University of China,Taiyuan 030051,China)

机构地区：[1]中北大学,太原030051

出　　处：《包装工程》2021年第1期157-162,共6页Packaging Engineering

基　　金：山西省自然科学基金(201801D121183)。

摘　　要：目的针对目前物流行业大都采用人工分拣,耗费了大量人力成本的问题,提出一种新型2-RPS/UPRS并联机构来解决这一问题。方法首先进行机构的自由度分析和工作空间仿真,以验证2-RPS/UPRS并联机构是否具有较大的工作空间。基于螺旋理论进行空间并联机构自由度分析,在三维软件中建模,添加合适的驱动验证其自由度。通过闭环矢量法和运动支链参数D-H矩阵表示法求解机构动平台的位置逆解。最后在Matlab程序中进行工作空间的仿真分析。结果 2-RPS/UPRS并联机构末端执行器在空间中具有2个转动自由度,2个方向的移动自由度。工作空间形状规则,无奇异位型。结论基于2-RPS/UPRS并联机构的分拣装置结构简单,可以在生产线上实现精准控制。该并联机构两转两移的运动特性能适应不同倾斜角斜面的分拣任务。The work aims to propose a new 2-RPS/UPRS parallel mechanism to solve the problems that manual sorting is mostly used in current logistics industry and consumes a lot of labor costs. The freedom analysis of the mechanism and working space simulation were carried out to verify whether the 2-RPS/UPRS parallel mechanism has a larger working space. Based on the spiral theory, the degree of freedom of the spatial parallel mechanism was analyzed. The model was established in 3D software, and the appropriate drive was added to verify the degree of freedom. By comparing the closed-loop vector method with the D-H matrix representation of motion branch chain parameters and the attitude Euler angle transformation matrix, the inverse position solution of the mechanism moving platform was solved. Finally, the simulation analysis of the working space was carried out in Matlab procedure. The end actuator of 2-RPS/UPRS parallel mechanism had 2 degree of freedom of rotation and 2 movement directions. The working space had a regular shape, without singular form. The sorting device based on 2-RPS/UPRS parallel mechanism has simple structure and can realize precise control on the production line. The motion characteristics of the parallel mechanism with two rotation freedom and two movement directions can adapt to the sorting tasks with different inclined angles.

关 键 词：并联机构 自由度 位置逆解 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]