一种2T2R并联机构的位置逆解和工作空间分析  

Inverse Position Solution and Workspace Analysis of a 2T2R Parallel Mechanism

作　　者：贾竣臣 薄瑞峰[1] 郭鑫鑫 李瑞琴[1] Jia Junchen;Bo Ruifeng;Guo Xinxin;Li Ruiqin(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22-27,共6页Journal of Mechanical Transmission

基　　金：国家自然科学基金(51275486);山西省回国留学人员科研资助项目(2017087)。

摘　　要：针对物流行业需要对大量商品快速分拣、包装的需求,提出了一种(2-RRR&RPR+R)&URS型4自由度并联机构,该机构由静平台、动平台、URS支链、以及与带有R副的连接平台相连接的两条RRR支链和RPR支链组成。首先,运用螺旋理论对机构自由度进行分析,求得该机构可实现两转两移的4自由度运动;随后,采用解析矢量法对其进行位置逆解分析,运用数值搜索法并结合位置逆解方程求得工作空间,分析了机构的工作性能;最后,通过Matlab对位置逆解方程进行仿真,并利用Adams对求解结果进行验证,验证了机构逆解模型的正确性以及机构运动的可实现性。结果表明,该机构能沿X轴方向大范围移动,在Y轴方向可实现大角度转动,可以代替物流行业的人工操作,提高工作效率。研究结果可为机构的进一步动力学分析与应用提供理论基础。Aiming at the demand of logistics industry for rapid sorting and packaging of a large number of commodities,a 4-DOF parallel mechanism(2-RRR&RPR+R) &URS type is proposed. The mechanism consists of a stationary platform,a moving platform and a URS branch chain,as well as two RRR branch chains and RPR branch chains connected with a connecting platform with R pairs. Firstly,the degree of freedom is analyzed by using the screw theory to institutions,get the mechanism can be realized to achieve two turn four degrees of freedom of movement,then by using the method of analytic vector inverse position analysis and using numerical search method combined with the inverse position equation,finding work space analysis work performance,and finally the position inverse equation by Matlab simulation,and by using the Adams results for validation,to prove the validity of the inverse kinematics model of the mechanism as well as the mechanism motion can be realized. The results show that the mechanism can move in a wide range along the X-axis direction and rotate at a large angle in the Y-axis direction,which can replace the manual operation in logistics industry and thus improve the work efficiency. The results can provide a theoretical basis for further dynamic analysis and application of the mechanism.

关 键 词：并联机构 螺旋理论 位置逆解 工作空间 

分 类 号：TH112[机械工程—机械设计及理论]