新型串并联机构的运动学分析  

Kinematic Analysis of New Series-Parallel Mechanism

作　　者：马春生[1] 张俊辕 尹晓秦 李瑞琴[1] MA Chun-sheng;ZHANG Jun-yuan;YIN Xiao-qin;LI Rui-qin(School of Mechanical Engineering,North University of China,Taiyuan 030051,China;Chongqing Jialing Huaguang Photoelectric Technology Co.,Ltd.,Chongqing 400700,China)

机构地区：[1]中北大学机械工程学院,太原030051 [2]重庆嘉陵华光电科技有限公司,重庆400700

出　　处：《包装工程》2021年第13期241-245,共5页Packaging Engineering

基　　金：山西省自然科学基金(201801D121183)。

摘　　要：目的为了使柔性化生产线能够快速对不同产品进行生产,缩短对不同机器进行测量的时间,探究所述机构在工作空间方面作为测量机构的可行性。方法提出一种具有精度高、测量范围大且同时便于携带的工业机器人测试平台;主体为串并混联机构,该机构分为上部和下部,下部为3SPR并联机构,上部为6SPS并联机构,分析其逆运动学来求出运动学逆解;并通过软件对其工作空间的形状和大小进行仿真。结果列出了机构的9个运动学逆解公式,获得了工作空间的18个极限位置和30条边界。结论文中所述机构的工作空间体积大,连续无空洞,形状规则而对称;可作为测试平台。In order to make the flexible production line quickly produce different products,shorten the measure time of different machines,and to explore the feasibility of the mechanism as a measuring mechanism in the working space,an industrial robot test platform with high precision,large measurement range and portability is proposed.A 3 SPR-6 SPS series-parallel mechanism with multiple degrees of freedom is proposed.The bottom layer of the mechanism is a 3SPR parallel mechanism and the upper part is a 6SPS parallel mechanism.The inverse kinematics analysis of the mechanism is carried out,and then the working space is solved by modeling and simulation with software.Nine inverse kinematics formulas of the mechanism are listed,and 18 limit positions and 30 boundaries of the workspace are obtained.The workspace of the mechanism described in this paper is large in volume,continuous without cavity,regular and symmetrical shape,and it is feasible to be used as a test platform.

关 键 词：串并联机构 刚柔复合机构 运动学 

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]