基于2CRU/2PRRR并联式灌装机构的设计与工作空间分析  

Design and Workspace Analysis of Parallel Canning Mechanism Based on 2CRU/2PRRR

作　　者：刘建国 马春生[1] 文杰 李瑞琴[1] 屈淑维[1] LIU Jian-guo;MA Chun-sheng;WEN Jie;LI Rui-qin;QU Shu-wei(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,太原030051

出　　处：《包装工程》2022年第7期184-189,共6页Packaging Engineering

基　　金：山西省自然科学基金(201801D121183);山西省回国留学人员科研资助项目(2021-114)。

摘　　要：目的 针对目前流水线上的灌装机构,对含有不同倾角瓶子的通用性不强等问题,提出一种新型2CRU/2PRRR并联机构来解决这一问题。方法 首先用SolidWorks软件创建2CRU/2PRRR并联机构的立体模型。利用螺旋理论分析得出该机构的自由度,并用修正的Kutzbach-Grübler公式对分析得出的自由度进行验证。然后利用运动学模型和D-H法分析求解机构动平台的位置反解。最后应用Matlab软件编写相应的极限边界搜索程序,运算求解出工作空间,并给出该灌装机构在流水线的应用实例。结果2CRU/2PRRR并联机构拥有1个转动自由度,3个方向的移动自由度。工作空间为规则立方体,内部连续无空洞且无奇异位型。结论 2CRU/2PRRR并联式灌装机构结构简单、运行稳定、性能良好,完全可以满足流水线上对含有倾角的瓶子进行灌装时的运动和工作范围需求,提高了灌装机构的通用性。The work aims to propose a new 2CRU/2PRRR parallel mechanism to solve the problem that the filling mechanism in current on the assembly line is not suitable for bottles with inclination angle. Firstly, a three-dimensional model of the 2CRU/2PRRR parallel mechanism was created with SolidWorks software. The degree of freedom of the mechanism was analyzed by the screw theory and verified by the modified Kutzbach-Grübler formula. Then the kinematics model and D-H method were used to analyze and solve the inverse position solution of the mechanism moving platform. Finally, the corresponding limit boundary search program was programmed with Matlab software, and the workspace of the mechanism was solved by calculation, and the application example of the filling mechanism in the assembly line was given. The results indicated that 2CRU/2P RRR parallel mechanism had one rotational degree of freedom, three moving degrees of freedom. The shape of the workspace was a regular cube, and the interior was continuous without cavity and singular position. The parallel mechanism has simple structure, operation steadily, high performance, and it can completely meet the requirements of movement and working range when filling bottles with inclination angles on the assembly line, thus improving the versatility of the filling mechanism.

关 键 词：2CRU/2PRRR 并联机构 螺旋理论 位置反解 工作空间 

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]