新型4RPUR并联机器人机构运动学分析与尺度综合  

Kinematic analysis and dimension synthesis of a new 4RPUR parallel robot mechanism

作　　者：许辰雨[1] 周亚夫[1] Xu Chenyu;Zhou Yafu(School of Mechanical and Electrical Engineering,Beijing Polytechnic College,Beijing,100042,China)

机构地区：[1]北京工业职业技术学院机电工程学院,北京100042

出　　处：《机械设计与制造工程》2024年第6期48-54,共7页Machine Design and Manufacturing Engineering

基　　金：北京市教育委员会科技计划项目(KM201710853004)。

摘　　要：以支链为RPUR的4RPUR并联机器人机构为研究对象,首先根据方位特征集理论验证运动性质,利用SolidWorks软件建立三维模型图,其次利用杆长约束条件进行运动学位置逆解分析,再次利用图形化方法得到工作空间与转动能力性能图谱,最后选择鲸鱼优化算法(WOA)完成参数尺度综合。结果表明:优化后的工作空间边界光滑、对称分布,为机构应用设计提供了参考依据。The 4RPUR parallel mechanism with branch chains as RPUR is taken as the research object.The motion properties are verified based on the theory of directional feature sets.A three-dimensional model diagram is established in Solidworks software,and the kinematic position inverse solution analysis is carried out under the rod length constraint conditions.The workspace and rotational ability performance map is obtained in graphical methods.Finally,the whale optimization algorithm(WOA)is selected to complete parameter scale synthesis.The results indicate that the optimized workspace boundary is smooth and symmetrically distributed,and the optimization results serve as a reference for the design of mechanism applications.

关 键 词：方位特征集 并联机器人机构 工作空间 鲸鱼优化算法 

分 类 号：TH122[机械工程—机械设计及理论]