2-CPR/RPU并联机构的构型设计及工作性能分析  

Configuration Design and Working Performance Analysis of 2-CPR/RPU Parallel Mechanism

作　　者：丰晓东 赵耀虹[1] 李瑞琴[1] 贺阳涛 张磊 FENG Xiao-dong;ZHAO Yao-hong;LI Rui-qin;HE Yang-tao;ZHANG Lei(School of Mechanical Engineering,North University of China,Taiyuan 030051,China)

机构地区：[1]中北大学机械工程学院,太原030051

出　　处：《科学技术与工程》2024年第12期4902-4908,共7页Science Technology and Engineering

基　　金：山西省重点研发计划(202202150401018)。

摘　　要：针对当前物流领域中货件品类多、人工耗用高等问题,为满足产线快速分拣的需求,提出一种全周自由度的2-CPR/RPU并联机构,以提高物流货件的分拣效率,减少人力时间成本。绘制2-CPR/RPU机构的三维模型,采用螺旋理论对2-CPR/RPU机构自由度进行求解,并根据修正的Grübler-Kutzbach公式进行验证,通过封闭矢量对机构支链进行位置逆解分析,基于逆解表达式求得机构速度Jacobian矩阵,利用代数法分析奇异位形是否存在,编程MATLAB语言求解其符合工作范围的点并绘制出工作空间,最后对机构的承重量进行有限元仿真分析。结果表明:2-CPR/RPU并联机构具有共3个自由度,可实现2T1R型的运动(沿x、z轴的平移和绕x轴的转动);结构尺寸符合要求没有奇异位形,工作空间较大,均匀分布且呈扇形对称,执行平台转动可达60°;2-CPR/RPU并联机构结构简单且运动稳定,工作精度高、载重性能良好,适用于大部分物流包装产线的分拣装箱工作。Aiming at the problems of many types of goods and high labor consumption in the current logistics field,in order to meet the needs of rapid sorting of production lines,a 2-CPR/RPU parallel mechanism with full-cycle freedom was proposed to improve the sorting efficiency of logistics goods and reduce the labor time cost.The three-dimensional model of 2-CPR/RPU mechanism was drawn,and the degree of freedom of 2-CPR/RPU mechanism was solved by screw theory.According to the modified Grübler-Kutzbach formula,the position inverse solution of the branch chain of the mechanism was analyzed by closed vector.Based on the inverse solution expression,the velocity Jacobian matrix of the mechanism was obtained.The algebraic method was used to analyze whether the singular configuration exists.The MATLAB language was programmed to solve the points that meet the working range and draw the working space.Finally,the finite element simulation analysis of the bearing weight of the mechanism was carried out.The results show that the 2-CPR/RPU parallel mechanism has a total of three degrees of freedom,which can realize 2T1R type motion(translation along the x,z axis and rotation around the x axis).The structure size meets the requirements without singular configuration,the working space is large,evenly distributed and fan-shaped symmetry,and the rotation of the execution platform can reach 60°.The 2-CPR/RPU parallel mechanism has simple structure,stable motion,high working accuracy and good load performance,which is suitable for sorting and packing in most logistics packaging production lines.

关 键 词：2-CPR/RPU 位置逆解 奇异性 工作空间 

分 类 号：TB486[一般工业技术—包装工程]