一种新型1T2R并联机构的运动学及工作空间分析  

Kinematics and workspace analysis of a new type of 1T2R parallel mechanism

作　　者：邱冰 李小兵[1] 石志新[1] 贾超逸 罗玉峰[1] QIU Bing;LI Xiaobing;SHI Zhixin;JIA Chaoyi;LUO Yufeng(School of Advanced Manufacturing,Nanchang University,Nanchang 330031,China)

机构地区：[1]南昌大学先进制造学院,江西南昌330031

出　　处：《南昌大学学报（工科版）》2023年第3期275-281,287,共8页Journal of Nanchang University(Engineering & Technology)

基　　金：国家自然科学基金项目(52165003、51365036)。

摘　　要：提出了一种针对柑橘采摘末端执行器进行姿态调整的新型1T2R并联机构。先利用方位特征方程(POC)对该机构进行拓扑结构分析,得到其方位特征集。根据Yang和Sun提出的更具有一般性的自由度(DOF)公式,验证其DOF。利用封闭矢量法分析得到其运动学逆解方程,并用多种群遗传算法分析得到其正解,并与逆解相互印证。用逆解方程作为约束条件,基于蒙特卡洛法用Matlab软件编程求解并绘制其工作空间。用Adams软件建立该机构模型,并对动平台进行位移、速度和偏转角的仿真分析。结果表明此并联机构具备良好的转动能力和较大的连续工作空间,结构简单且运动平稳,为后续研究和设计该类型的并联机构提供参考依据。A new type of 1T2R parallel mechanism is proposed to adjust the posture of Citrus picking end effector.The topological structure of the mechanism is firstly analyzed by using the orientation characteristic equation(POC),and its orientation feature set is obtained.According to the more general degrees of freedom(DOF)formula proposed by Yang and Sun,its DOF are verified.The inverse kinematics equation is obtained by the space vector method analysis,and the positive solution is obtained by the multi population genetic algorithm,and the inverse solutions are mutually confirmed.Using the inverse solution equation as the constraint condition,based on the Monte Carlo method,Matlab software was used to program the solution and draw its working space.The model of the mechanism is estab-lished with Adams software,and the displacement,velocity and deflection angle of the moving platform are simulated and analyzed.The results show that the parallel mechanism has good rotation ability,large working space,simple structure and stable motion,which pro-vides a reference for subsequent research and design of this type of parallel mechanism.

关 键 词：并联机构 方位特征集 运动学 蒙特卡洛方法 工作空间 

分 类 号：TH112[机械工程—机械设计及理论]