3-UPS/UR并联机构运动学分析  

Kinematic Analysis of 3-UPS/UR Parallel Mechanism

作　　者：郭忠峰[1] 赵启航 GUO Zhongfeng;ZHAO Qihang(College of Mechanical Engineering,Shenyang University of Technology,Shenyang 110870,China)

机构地区：[1]沈阳工业大学机械工程学院,辽宁沈阳110870

出　　处：《机械制造与自动化》2023年第5期139-143,共5页Machine Building & Automation

基　　金：辽宁省教育厅项目(LJK20114)。

摘　　要：针对传统带有球副恰约束并联机构工作空间较小的问题,提出一种3-UPS/UR并联机构构型。通过螺旋理论对该机构自由度进行计算并分析。建立此并联机构的杆长约束方程,通过Matlab求解并联机构位姿反解;通过遗传算法,求解并联机构位姿正解。采用影响系数法,对驱动机构部分进行运动分析。通过搜索法对3-UPS/UR并联机构工作空间求解及对比分析。通过Adams仿真,得到平台位姿及速度参数,对比理论数值计算结果与仿真结果,验证并联机构约束方程正确性,并为机构的控制提供理论依据。To improve the limited workspace of traditional parallel mechanism with ball pair exact constraint,a new 3-UPS/UR parallel mechanism is proposed.Its degrees of freedom is computed and studied by screw theory.The length constraint equations for the mechanism is built,the inverse solution of pose is gained from Matlab and the forward solution is obtained by genetic algorithm.The influence factor method is adopted to analyze the kinematics of the driving mechanism.The workspace of 3-UPS/UR parallel mechanism is solved by search method,and the parallel mechanism with ball pair exact constraint is solved.Through ADAMS simulation,the pose and velocity parameter of the platform are obtained.The theoretical numerical calculation results are compared with the simulation ones,and the correctness of the constraint equation of the parallel mechanism is verified,which provides a theoretical basis for the control of the mechanism.

关 键 词：运动学 并联机构 螺旋理论 遗传算法 少自由度并联机构 恰约束 

分 类 号：TH112[机械工程—机械设计及理论]