2-SPR/(U+UPR)P(vA)可重构并联机构的运动学与工作空间研究  

Research of Kinematics and Workspace of 2-SPR/(U+UPR)P(vA)Reconfigurable Parallel Mechanism

作　　者：马春生[1] 米文博 尹晓秦 马振东 Ma Chunsheng;Mi Wenbo;Yin Xiaoqin;Ma Zhendong(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,山西太原030051

出　　处：《机械传动》2021年第6期1-7,共7页Journal of Mechanical Transmission

基　　金：山西省自然科学基金(201801D121183);山西省研究生教育创新项目(2020SY350)。

摘　　要：提出了一种含可重构运动副的2-SPR/(U+UPR)P(vA)冗余并联机构,可应用于并联操作度,并应用修正的Kutzbach-Grübler公式对机构的自由度进行了验证;其次,应用闭环矢量法求解机构的两组运动学逆解并验证、应用粒子群优化算法研究建立机构在R相下的正解模型并验证;最后,联合使用SolidWorks和Matlab软件求解了机构在R相下的可达工作空间和U相下的平动工作空间。研究结果为该机构的进一步优化和实际应用提供了理论支持。A 2-SPR/(U+UPR)P(vA)redundant parallel mechanism with reconfigurable kinematic pairs is proposed,which can be applied to parallel operation platform.Firstly,the spiral matrix of the 2-SPR/(U+UPR)P(vA)parallel mechanism is established,the DOF of the mechanism under the R and U phases are solved,and the DOF of the mechanism are verified by using modified Kutzbach-Grübler formula.Secondly,the closedloop vector method is used to solve the two sets of inverse kinematic solutions of the mechanism and verification,and the particle swarm optimization algorithm is used to study and establish the positive solution model of the mechanism under the R phase and verify.Finally,software to solve the mechanism’s reachable workspace under the R phase and the translational workspace under the U phase are solved using SolidWorks combing with Matlab.The research results provide theoretical support for the further optimization and practical application of the mechanism.

关 键 词：可重构并联机构 运动学分析 粒子群优化 工作空间 

分 类 号：TH112[机械工程—机械设计及理论]