3-CRS-S并联机构的运动学分析及仿真  

Kinematics Analysis and Simulation of 3-CRS-S Parallel Mechanism

作　　者：庞国旺 赵耀虹[2] 李瑞琴[2] 王勇军 张建康 赵杰前 李龙飞 PANG Guo-wang;ZHAO Yao-hong;LI Rui-qin;WANG Yong-jun;ZHANG Jian-kang;ZHAO Jie-qian;LI Long-fei(Beijing Institute of Aerospace Control Instruments,Beijing 100854,China;School of Mechanical Engineering,North University of China,Taiyuan 030051,China)

机构地区：[1]北京航天控制仪器研究所,北京100854 [2]中北大学机械工程学院,太原030051

出　　处：《包装工程》2021年第23期183-188,共6页Packaging Engineering

基　　金：山西省重点研发计划(201903D421051)。

摘　　要：目的对3-CRS-S并联机构进行运动学分析及仿真,验证该机构是否具有优良的运动学性能。方法运用修正的Kutzbach-Grübler公式对机构进行自由度计算,并分别采用D-H法和数值算法中的粒子群优化算法(PSO)对该3-CRS-S并联机构的位置正逆解进行分析,运用Adams软件对3-CRS-S并联机构进行角度和角速度分析。结果得出该机构的位置逆解和正解,以及运动学仿真后的角度、角速度图像,该图像曲线均呈现为有规律、周期性的变化,且曲线没有出现有任何断点和突变点,运动范围相对稳定,说明该机构在运行过程中运行平稳。结论该机构在运动过程中运行平稳,具有良好的运动学性能,在自动化包装机械领域具有广阔的应用前景。The work aims to analyze and simulate the kinematics of the 3-CRS-S parallel mechanism to verify whether the mechanism has excellent kinematic performance.The modified Kutzbach-Grübler formula was used to calculate the degrees of freedom of the mechanism.The forward and inverse solutions of the 3-CRS-S parallel mechanism were analyzed by D-H method and particle swarm optimization(PSO)of numerical algorithm respectively.Adams software was used to analyze the angle and angular velocity of the 3-CRS-S parallel mechanism.The inverse and positive solutions of the mechanism,as well as the simulated angle and angular velocity images were obtained.The image curves showed regular and periodic changes,and there were no sudden changes or breakpoints in the curves,and the range of change was stable.It can be obtained that the mechanism runs smoothly in motion and has good kinematic performance.It has a broad application prospect in automated packaging machinery.

关 键 词：并联机构 D-H法 粒子群优化算法 ADAMS 

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]