基于2-PCR_2-UPS并联机构的运动学分析与工作空间  

Kinematic Analysis and Workspace Analysis of 2-PCR_2-UPS Parallel Mechanism

作　　者：贺阳涛 马春生[1] 文杰 刘建国 李瑞琴[1] HE Yang-tao;MA Chun-sheng;WEN Jie;LIU Jian-guo;LI Rui-qin(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：《科学技术与工程》2023年第4期1481-1487,共7页Science Technology and Engineering

基　　金：山西省基础研究计划(202203021211101);山西省回国留学人员科研资助项目(2021-114)。

摘　　要：针对当前快递行业每天需要大量的工作人员对快递件进行码垛、分拣,提出一种2-PCR_2-UPS非对称的并联机构,同时可运用于其他行业产品的码垛与分拣。利用SolidWorks软件中对2-PCR_2-UPS并联机构进行建模;根据螺旋理论对2-PCR_2-UPS机构的自由度进行分析,并结合修正的G-K(Grübler-Kutzbach)公式验证其正确性;在求解机构的运动学逆解过程中主要运用闭环矢量法,使用MATLAB程序语言绘制得出机构工作空间;在Adams软件中建立虚拟样机进行仿真分析。结果表明:2-PCR_2-UPS机构有3移(沿着X、Y、Z轴方向上的移动)和1转(围绕Z轴的转动)的4个自由度,工作空间呈现对称分布、范围较大,运动性能良好;2-PCR_2-UPS机构结构简单、快捷,工作空间大,可以代替人工进行码垛与分拣工作,大幅提升工作效率。In order to cope with the current express industry which requires a large number of staff to stack and sort express pieces every day,the 2-PCR_2-UPS asymmetric parallel mechanism was used to investigate whether it could be applied to the stacking and sorting of products in the express industry as well as in other industries.The 2-PCR_2-UPS parallel mechanism was modeled by SolidWorks software.The degrees of freedom of the 2-PCR_2-UPS mechanism was analyzed based on the screw theory and combined the modified version of the G-K(Grübler-Kutzbach)formula to verify the correctness of the 2-PCR_2-UPS mechanism.The closed-loop vector method was mainly used to solve the inverse kinematics of the mechanism,the MATLAB program language was used to draw the mechanism workspace.The virtual prototype was established in Adams software for simulation analysis.The results show that the 2-PCR_2-UPS mechanism has four degrees of freedom,including three movements(movement along the X,Y and Z axes)and one rotation(rotation around the Z axis),and presents a symmetrical distribution and a large range of workspace,and has good motion performance.2-PCR_2-UPS mechanism has a simple and fast structure and large working space,which can replace manual stacking and sorting and significantly improve work efficiency.

关 键 词：2-PCR_2-UPS 自由度 位置逆解 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]