应用于苹果加工生产线的2-CRR/UPU并联机构的运动学分析  

Kinematics Analysis of 2-CRR/UPU Parallel Mechanism Applied in Apple Manufacturing Line

作　　者：李泽辉 宋胜涛[1] 高海豹 宁峰平 Li Zehui;Song Shengtao;Gao Haibao;Ning Fengping(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》2022年第1期104-109,176,共7页Journal of Mechanical Transmission

摘　　要：提出了一种用于苹果加工过程中的分拣和装箱的2-CRR/UPU并联机构。建立2-CRR/UPU并联机构的运动螺旋矩阵,通过螺旋理论对其进行了自由度分析,采用修正的Kutzbach-Grubler公式进行验证;通过机构中的几何关系,求解该机构的位置逆解,推导出该机构的Jacobian矩阵并对其进行了速度分析;通过三维动态搜索法求解该机构的工作空间;根据Jacobian矩阵对机构奇异性进行分析,获得灵巧度指标在工作空间中的分布规律。该2-CRR/UPU并联机构能够进行三平移运动,且运动稳定,能够满足苹果分拣装箱时的动作要求。A 2-CRR/UPU parallel mechanism is proposed for apple sorting and packing.A kinematic spiral matrix of 2-CRR/UPU parallel mechanism is established,its degree of freedom is analyzed by the spiral theory,and a modified Kutzbach-Grubler formula is used for verification.Through the geometric relations of the mechanism,the inverse solution of the position of the mechanism is solved,and then the Jacobian matrix of the mechanism is derived and its velocity is analyzed.The workspace of the mechanism is solved by 3D dynamic search method.The singularity of the mechanism is analyzed by Jacobian matrix,and the distribution law of the dexterity index in the workspace is obtained.The 2-CRR/UPU parallel mechanism can carry out three translational motions,and the motion is stable,which can meet the action requirements of apple sorting and packing.

关 键 词：2-CRR/UPU并联机构 位置逆解 工作空间 奇异性 灵巧度 

分 类 号：TH112[机械工程—机械设计及理论]