多运动模式并联机构工作空间分析  

Workspace analysis of a parallel kinematic machine with multi-motion modes

作　　者：刘鑫 赵雯 李建国 赵艳芹 宋爱平[1] LIU Xin;ZHAO Wen;LI Jianguo;ZHAO Yanqin;SONG Aiping(School of Mechanical Engineering,Yangzhou University,Yangzhou 225127,China)

机构地区：[1]扬州大学机械工程学院,江苏扬州225127

出　　处：《扬州大学学报（自然科学版）》2024年第3期60-65,共6页Journal of Yangzhou University：Natural Science Edition

基　　金：中国博士后科学基金面上项目(2023M732984)。

摘　　要：面对行业对自动化装备的重大需求,引入一种由移动副驱动的并联机构,该机构具有多运动模式、大工作空间等特点,可用于钻孔、装配、检测等领域.为了分析并联机构的工作空间,采用闭环矢量法建立不同运动模式下系统通用的运动学模型;在此基础上,考虑滑块行程、关节转角等约束条件,提出空间搜索法搜索不同运动模式下并联机构的可达工作空间.结果表明:在不同的运动模式下,并联机构的工作空间连续无空洞,该结果为后续的机构设计及应用提供了理论依据.In this paper,a new type of prismatic-joint-actuated parallel kinematic machine(PKM)is introduced to meet the great demand of automation equipment in industry.The PKM owns multi-motion modes and a large workspace,which can be applied to drilling,assembling and 3D detection.In order to analyze the workspace of the PKM,a general kinematic model is established by the closed-loop vector first.Then,based on the proposed kinematic models and considering some constraint conditions including stroke of mobile agents and limited angle of universal joints,the reachable workspace of the PKM under different motion modes is searched based on the space search method.Results show that the reachable workspace of PKM is continuous and there is no empty hole,which can provide important guidance for parameters design and practical application of the robot.

关 键 词：多运动模式 并联机构 运动学 工作空间 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]