2UU-UPU并联机构的工作空间与结构参数分析  

Analysis of Workspace and Structural Parameters of 2UU-UPU Parallel Mechanism

作　　者：武晓轩 崔冰艳 杨中原 李建功 WU Xiao-xuan;CUI Bing-yan;YANG Zhong-yuan;LI Jian-gong(North China University of Technology School College of Mechanical Engineering,Hebei Tangshan 063000,China)

机构地区：[1]华北理工大学机械工程学院,河北唐山063000

出　　处：《机械设计与制造》2022年第12期79-83,共5页Machinery Design & Manufacture

基　　金：国家青年基金(E51505124);河北省自然科学基金(E2017209252);河北省教育厅基金(2018GJJG202)。

摘　　要：提出了一种新型的2UU-UPU并联机构,基于螺旋理论对该机构自由度进行了分析,利用修正的Kutzbach-Grübler公式进行了验证。建立了2UU-UPU并联机构的位置反解方程。结合该并联机构的约束条件,给定并联机构的初始结构参数,使用蒙特卡洛法求解了工作空间。以初始结构参数的工作空间体积为参考,研究了结构参数对工作空间的影响,并绘制了该机构结构参数变化对工作空间体积的影响曲线。基于影响曲线优化结构参数并计算其工作空间。研究结构表面优化后的工作空间体积是初始工作空间体积的1.52倍,工作空间明显增大。该研究为2UU-UPU并联机构的结构设计和运动学分析提供了参考。An novel2UU-UPU parallel mechanism is proposed. Based on the helical theory,the degrees of freedom of the mechanism are analyzed and verified by the modified Kutzbach-Grübler formula. The inverse equation of 2UU-UPU parallel mechanism is established. According to the constraint conditions of the parallel mechanism,the initial structure parameters of the parallel mechanism are given,and the monte carlo method is used to solve the workspace. With the initial structure parameters of workspace volume for reference,study the influence of structure parameters on the workspace,and draw the organization the influence of structural parameters on the workspace volume curve. Based on the influence curve,the structure parameters are optimized and the working space is calculated. The results show that the volume of the optimized workspace is 1.52 times of the original workspace volume,and the workspace increases obviously. The research provides a reference for the structure design and kinematics analysis of 2UU-UPU parallel mechanism.

关 键 词：2UU-UPU并联机构 位置反解 蒙特卡洛法 工作空间 结构参数 

分 类 号：TH16[机械工程—机械制造及自动化]