一种用于汽车零部件分拣与传送并联机构的设计及动力学分析  

Design and Kinetic Analysis of the Parallel Mechanism for Sorting and Transmitting of Automobile Parts

作　　者：鞠涛 沈惠平[1] 李涛[1] Ju Tao;Shen Huiping;Li Tao(Center for Modern Mechanisms Theory,Changzhou University,Changzhou 213164,China)

机构地区：[1]常州大学现代机构学研究中心,江苏常州213164

出　　处：《机械传动》2024年第2期61-69,共9页Journal of Mechanical Transmission

基　　金：国家自然科学基金项目(51975062)。

摘　　要：为实现对汽车零部件的智能分拣与传送,提出了一种全铰链新型一平移一转动(1T1R)并联机构,其结构简单且部分运动解耦。首先,基于方位特征方程的拓扑设计理论和方法,设计、分析了一种2自由度1T1R并联机构;其次,基于拓扑特征运动学方法,求解出机构的符号式位置正解,并对该机构的工作空间、奇异性进行了计算;最后,运用基于虚功原理的序单开链法,求得其驱动力矩和子运动链(Sub Kinematic Chain,SKC)连接处的支反力。研究为汽车零部件并联机构设计研究奠定了基础。In order to realize the intelligent sorting and transmitting of automobile parts,a new full-hinge translation-rotation(1T1R)parallel mechanism is proposed,which is simple in structure and partially decoupled in motion.Firstly,based on the topological design theory and method of azimuth characteristic equation,a two-degree-of-freedom 1T1R parallel mechanism is designed and analyzed.Secondly,based on the topological char⁃acteristic kinematics method,the positive symbolic position solution of the mechanism is solved.The workspace and singularity of the mechanism are calculated.Finally,the driving torque and the supporting reaction at the joint of the sub kinematic chain(SKC)are obtained by using the sequential simple open chain method based on the virtual work principle.The research lays a foundation for the design and research of the parallel mechanism of automobile parts.

关 键 词：并联机构 运动解耦 运动学分析 动力学分析 智能分拣 

分 类 号：U468.21[机械工程—车辆工程] TH112[交通运输工程—载运工具运用工程]