新型3UPS_UP并联机构工作空间及参数分析  

Workspace and parameter analysis of the new 3UPS_UP parallel mechanism

作　　者：陈语 李开明[1] 周文全 张贺 Chen Yu;Li Kaiming;Zhou Wenquan;Zhang He(School of Mechanical Engineering,Nanjing University of Science and Technology,Jiangsu Nanjing,210094,China)

机构地区：[1]南京理工大学机械工程学院,江苏南京210094

出　　处：《机械设计与制造工程》2022年第2期43-46,共4页Machine Design and Manufacturing Engineering

摘　　要：参考Tricept并联机构,将其动平台替换为一种复合球铰,形成新型3UPS_UP并联机构。分析了该机构的结构模型,并着重介绍了复合球铰的结构及特性。由于复合球铰的特殊结构,不便考虑动平台的姿态,所以将球心设为参考点,可以简化该机构的运动学求解过程。列举了该机构的主要约束,并分析采用的工作空间搜索原理,运用MATLAB分析得到该机构工作空间的三维边界图以及部分截面图。介绍了空间体积的计算方法,并定量分析了主要结构的尺寸与工作空间的关系,为改善该并联机构性能及进一步研究奠定了基础。Referring to the Tricept parallel mechanism,the moving platform is replaced with a composite ball hinge to form a new 3UPS_UP parallel mechanism.The structure of the parallel mechanism is analyzed,and the structure and characteristics of the composite ball hinge are introduced separately.Because of the special structure of composite ball hinge,it is inconvenient to consider the attitude of moving platform,so the center of the ball is set as the reference point,which can simplify the kinematics solution of the mechanism.The main constraints of the mechanism are listed,and the principle of workspace search is analyzed.The three-dimensional boundary map and section map of the workspace are obtained by MATLAB.The calculation method of space volume is introduced,and the relationship between the size of the main structure and the working space is quantitatively analyzed,which lays a foundation for improving the performance of the parallel mechanism and further research.

关 键 词：复合球铰 3UPS_UP并联机构 机构约束 工作空间 机构参数 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]