4-CPS/UPU并联机构运动学分析与仿真  

Kinematics Analysis and Simulation of a 4-CPS/UPU Parallel Mechanism

作　　者：刘娟 李瑞琴[2] 王远 宁峰平 Liu Juan;Li Ruiqin;Wang Yuan;Ning Fengping(Department of Mechanical Engineering,Shanxi Engineering Vocational College,Taiyuan 030009,China;College of Mechanical Engineering,North University of China,Taiyuan 030051,China)

机构地区：[1]山西工程职业学院机械工程系,山西太原030009 [2]中北大学机械工程学院,山西太原030051

出　　处：《机械传动》2023年第7期90-95,共6页Journal of Mechanical Transmission

基　　金：山西省重点研发计划项目(201803D421028,201903D421051);山西省高等学校科技创新项目(2022L708);山西省研究生创新项目(2021Y581)。

摘　　要：提出了一种用于并联机床领域的4-CPS/UPU并联机构。基于旋量理论,建立了该并联机构的运动和约束螺旋系,该机构具有5个自由度,可实现三移两转功能;通过修正的K-G公式对其自由度进行了验证;进一步分析了并联机构的位置正逆解、工作空间;运用Adams软件对其进行了仿真分析。该机构工作空间连续,形状近似四棱台,规则对称,无空洞,且仿真得到的位移和速度曲线光滑,表明该机构具有良好的运动性能。研究结果为其在并联机床领域的参数化设计提供了一定的理论基础。A 4-CPS/UPU parallel mechanism used in the field of parallel machine tools is proposed.Based on the screw theory,the kinematic and constrained screw system of the parallel mechanism is established.The mechanism has five degrees of freedom and can realize the function of three shifts and two rotations.The degree of freedom is verified by the modified K-G formula.The forward and inverse solutions of the parallel mechanism and the working space are analyzed.The simulation analysis is carried out by Adams software.The workspace of the mechanism is continuous without cavity,and its shape is similar to that of a pyramid,which is regular and symmetrical;the smooth displacement and velocity curves obtained by simulation show that the mechanism has good kinematic performance,which provides a certain theoretical basis for its parametric design in the field of parallel machine tools.

关 键 词：4-CPS/UPU并联机构 自由度 位置逆解 位置正解 工作空间 Adams软件 

分 类 号：TH112[机械工程—机械设计及理论]