2PRP_(a)U-2PSS并联机构运动学分析  

Kinematics Analysis of a 2PRPaU-2PSS Parallel Mechanism

作　　者：郑鑫 杜力[1,2] 车林仙[2,3] 李杰 黄鑫[1,2] 陆佳红 易虹宇 Zheng Xin;Du Li;Che Linxian;Li Jie;Huang Xin;Lu Jiahong;Yi Hongyu(School of Mechanical Engineering,Chongqing Technology and Business University,Chongqing 400067,China;Chongqing Municipal Key Laboratory of Mechanism Design and Control for Manufacturing Equipment,Chongqing Technology and Business University,Chongqing 400067,China;School of Intelligent Manufacturing,Chongqing Vocational Institute of Engineering,Chongqing 402260,China)

机构地区：[1]重庆工商大学机械工程学院,重庆400067 [2]重庆工商大学制造装备机构设计与控制重庆市重点实验室,重庆400067 [3]重庆工程职业技术学院智能制造学院,重庆402260

出　　处：《机械传动》2022年第11期47-54,共8页Journal of Mechanical Transmission

基　　金：重庆市自然科学基金(cstc2020jcyj-msxmX0074);重庆工商大学研究生创新型科研项目(yjscxx2020-094-58)。

摘　　要：面向抓取和分拣等场合,提出一种新型三移动一转动2PRP_(a)U-2PSS并联机构,对其进行了运动学分析。应用方位特征集理论分析了机构约束特性、自由度和结构耦合度;根据杆长约束条件,建立机构位置分析非线性方程组,将位置正解问题转化为求一元方程,并应用改进灰狼优化算法求解该问题;推导出机构速度和加速度正逆解解析表达式;给出机构运动学分析数值算例,根据理论模型,运用Matlab软件绘制位移、速度和加速度曲线,同时应用Adams软件进行了仿真验证。结果显示,理论分析与数字仿真结果一致,表明给出的运动学分析模型和计算方法正确可靠。Facing the occasion of grasping and sorting,a novel 3T1R planar symmetric parallel mecha⁃nism,named 2PRP_(a)U-2PSS PM,is proposed,and its kinematics is analyzed in detail.The degree of freedom and coupling degree are addressed through the position and orientation characteristic(POC)theory.The mathemati⁃cal models of displacement and orientation,velocity and acceleration analysis are derived by utilizing the vector method.Meanwhile,the nonlinear equations of forward displacement are transformed into one-dimensional equation,thus using the improved grey wolf optimization algorithm to solve this problem.A numerical example is given to verify the correctness of the kinematical mathematical model,the displacement,velocity,and accelera⁃tion curves are obtained with the aid of Matlab,and then Adams is used for simulation verification.Finally,the two results are basically consistent,which indicates that the kinematic mathematical models of the discussed mechanism derived are correct and reliable.

关 键 词：并联机构 方位特征集 位置正解分析 运动学分析 灰狼优化算法 

分 类 号：TH112[机械工程—机械设计及理论]