UPS/UPR/SP并联机构的逆运动学与可达工作空间分析  

Inverse Kinematics and Reachable Workspace of UPS/UPR/SP Parallel Mechanism

作　　者：李龙飞 赵耀虹[1] 孙斌 李瑞琴[1] 庞国旺 Li Longfei;Zhao Yaohong;Sun Bin;Li Ruiqin;Pang Guowang(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4期89-94,共6页Journal of Mechanical Transmission

基　　金：山西省重点研发计划(201903D421051)。

摘　　要：针对于当前货物分拣费时、费力、准确度低等问题,提出了一种UPS/UPR/SP并联机构,考虑将其应用于包装分拣领域以解放双手。首先,采用螺旋理论分析了UPS/UPR/SP并联机构的自由度,并基于改进的Kutzbach-Grübler公式对该机构的自由度进行了分析和验证;然后,采用粒子群优化算法(Particle swarm optimization,PSO)以及封闭矢量法对该机构的位置正逆解进行求解,并运用极限搜索法在Matlab软件中求解出该机构的可达工作空间;最后,将该机构具体应用于位置累计精度要求高的快递分拣工作中。结果表明,UPS/UPR/SP并联机构具有二转动一移动3个自由度,动平台末端运动精确,工作空间连续且无间断;研究的机构运动灵活,完全满足快递物流的货物分拣工作。Considering that the sorting of goods is time-consuming,laborious and not accurate enough,a UPS/UPR/SP parallel mechanism is proposed,which is considered to be applied in the field of packaging sorting to liberate both hands.Firstly,the degree of freedom of UPS/UPR/SP parallel mechanism is analyzed by using screw theory,and the degree of freedom of the mechanism is analyzed and verified based on the improved Kutzbach-Grübler formula;then,particle swarm optimization(PSO)algorithm and closed vector method are used to solve the forward and inverse solutions of the mechanism,and the reachable workspace of the mechanism is solved by using the limit search method in Matlab software;Finally,the mechanism is applied to the express sorting with high accuracy of position accumulation.The results show that the UPS/UPR/SP parallel mechanism has three degrees of freedom of two rotations and one movement,the end movement of the moving platform is accurate,and the workspace is continuous and uninterrupted.The mechanism is flexible and can fully meet the requirements of express logistics.

关 键 词：UPS/UPR/SP 并联机构 位置逆解 位置正解 工作空间 分拣 

分 类 号：TH112[机械工程—机械设计及理论]