基于螺旋理论对水稻插秧机2UPR/SPS并联机构的自由度分析  

Analysis of Freedom of 2UPR/SPS Parallel Rice Transplanter based on Screw Theory

作　　者：刘娟 王远 Liu Juan;Wang Yuan(Department of Traffic Engineering,Shanxi Engineering Vocational College,Shanxi Taiyuan 030009)

机构地区：[1]山西工程职业学院交通工程系,山西太原030009

出　　处：《南方农机》2023年第10期11-13,共3页

基　　金：山西省重点研发计划(201803D421028,201903D421051);山西省高等学校科技创新项目(2022L708)。

摘　　要：【目的】针对水稻插秧机的作业效率,课题组提出一种并联机构来提高水稻插秧机的作业稳定性和可重复性。【方法】建立2UPR/SPS并联机构,通过螺旋理论对该机构的每条支链的自由度类型进行了分析,由于动平台两个R副和一个S副的布置,对每条支链建立了坐标系,建立了每个支链的运动螺旋系,根据互易原理,分析了每个支链的约束螺旋系。根据每条支链的约束螺旋系,列出并联机构的约束螺旋系,再进行互易,最终得到动平台的运动螺旋系。【结果】该并联机构具有两个自由度,可实现动平台在z轴方向的移动,在移动的过程中可实现绕着z轴旋转,符合水稻插秧的动作要求。【结论】由于该并联机构具有良好的稳定性和可重复性,将其应用于水稻插秧机,将有利于提高水稻插秧机的作业效率和稳定性,而且对此并联机构的分析为今后水稻插秧机结构的研究奠定了一定的基础。[Objective]Aiming at the operation efficiency of rice transplanters,the research team proposed a parallel mechanism to improve the operation stability and repeatability of rice transplanters.[Method]A 2UPR/SPS parallel mechanism was established,and the type of freedom of each branch chain of the mechanism was analyzed through the screw theory.Due to the arrangement of two R pairs and one S pair of the moving platform,the coordinate system of each branch chain was established,and the motion screw system of each branch chain was established.According to the reciprocity principle,the constraint screw system of each branch chain was analyzed.According to the constraint screw system of each branch chain,the constraint screw system of the parallel mechanism was listed,and then the motion screw system of the moving platform was obtained through reciprocity.[Result]The parallel mechanism has two degrees of freedom,which can realize the movement of the moving platform in the z-axis direction,and can realize the rotation around the z-axis during the movement,which symbolizes the action requirements of rice transplanting.[Conclusion]Due to the good stability and repeatability of the parallel mechanism,its application in rice transplanter will be beneficial to improve the operation efficiency and stability of rice transplanters.Moreover,the analysis of the parallel mechanism lays a certain foundation for future research on the structure of rice transplanters.

关 键 词：水稻插秧机 并联机构 旋量理论 自由度 

分 类 号：TH112[机械工程—机械设计及理论]