3UPU-UP并联平台可操作性与工作空间分析  

3UPU-UP Parallel Platform Operability and Workspace Analysis

作　　者：范昆龙 王生海[1] 仇伟晗 牛安琪 韩广冬 陈海泉[1] 邱建超 FAN Kun-long;WANG Sheng-hai;QIU Wei-han;NIU An-qi;HAN Guang-dong;CHEN Hai-quan;QIU Jian-chao(Marine Engineering College,Dalian Maritime University,Dalian 116026,China)

机构地区：[1]大连海事大学轮机工程学院,大连116026

出　　处：《科学技术与工程》2024年第16期6935-6942,共8页Science Technology and Engineering

基　　金：国家重点研发计划(2018YFC0309003);国家自然科学基金(51579026,51779026);国家自然科学基金青年科学基金(5210396);中央高校基本科研业务费专项资金(3132022207)。

摘　　要：6支链并联平台存在着复杂的位置约束,并且当控制算法失效时对机械结构容易造成损坏,因此,针对一种3UPU-UP并联平台对其进行运动学可操作性与工作空间分析。首先通过矢量法与运动学的分析,得出了3UPU-UP并联平台运动学模型,以此为基础,首次将串联机械臂可操作度的评价指标与3UPU-UP并联平台的机构结构特性相结合,对3UPU-UP并联平台的可操作度进行了计算、分析和可视化处理;并将蒙特卡洛法与正运动学相结合对并联平台的工作空间进行了计算、分析和可视化处理。能够更加直观、完整表述并联平台的可操作度和工作空间。研究成果为3UPU-UP并联平台的设计提供了理论依据并证实其理论上的可行性。The 6-branch chain parallel platform has complex positional constraints and is prone to damage to the mechanical structure when the control algorithm fails.Therefore,the kinematic operability and workspace of a 3UPU-UP parallel platform was analysed.Firstly,the kinematic model of the 3UPU-UP parallel platform was derived through the analysis of vector method and kinematics,based on which,the evaluation index of the operability of the tandem robotic arm was firstly combined with the characteristics of the mechanism structure of the 3UPU-UP parallel platform.The operability of the 3UPU-UP parallel platform was computed,analyzed and visualized.The Monte-Carlo method was combined with the orthogonal kinematics to analyze the workspace of the 3UPU-UP parallel platform.The Monte-Carlo method and positive kinematics were combined to calculate,analyze and visualize the workspace of the parallel platform.The workspace of the parallel platform can be expressed more intuitively and completely.The research results provide the theoretical basis for the design of the 3UPU-UP parallel platform and confirm its theoretical feasibility.

关 键 词：并联平台 运动学 可操作性 蒙特卡洛法 工作空间 

分 类 号：U664.43[交通运输工程—船舶及航道工程]