2-RPU/UPRS并联机构的构型设计及性能分析  

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

作　　者：王欢 马春生[1] 贺阳涛 高宇杰 WANG Huan;MA Chunsheng;HE Yangtao;GAO Yujie(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：《组合机床与自动化加工技术》2025年第2期40-45,共6页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：山西省基础研究计划资助项目(202203021211101);山西省回国留学人员科研资助项目(2021-114)。

摘　　要：提出一种三杆四自由度的并联机构作为研究对象,通过对该机构进行分析观察此机构的运动性能。通过Solid Works进行简单的模型建立,绘制出其结构简图,并标注定坐标系及动坐标系,运用螺旋理论对此机构进行自由度分析,并结合修正后的G-K公式进行自由度验证,通过闭环矢量法和修正后的DH法对该机构进行逆解计算,即根据动平台的位姿及其位置的关系,求出各杆的杆长伸长量和主动转动副的旋转量。基于MATLAB对工作空间进行求解,通过极限位置搜索法求出动平台的可达极限位置;然后,基于逆解建立雅可比矩阵。对结构上的主动副添加驱动,观察动平台在给定驱动下的仿真分析。当给予给定驱动后,该机构可按照理想运动运动轨迹运动,并且工作空间无断点,速度及加速度变化较平缓;最后,利用局部条件数LCI作为评价指标分析了机构的灵巧度,结果表明,2-RPU/UPRS并联机构具有结构简单,运动性能良好,工作空间内无奇异位型,可以更好地应用于包装工程领域。The work aims to propose a parallel mechanism with three bars and four degrees of freedom as the research object,and to observe the motion performance of the mechanism by analyzing the mechanism.Through Solid Works for simple three-dimensional modeling,draw its structure diagram,and marked the fixed coordinate system and the dynamic coordinate system,the use of screw theory to analyze the degree of freedom of this mechanism,and the revised G-K formula to verify the degree of freedom,through closed loop vector method and DH method to calculate the inverse solution of the mechanism,Namely according to the relationship between the posture and the position of the moving platform,the length of the pole elongation and the rotation of the active rotation.The inverse equation to calculate the working space is solved based on MATLAB,by limit position search method platform can reach limit position,deputy added to the structure of the active drive,observe the simulation analysis of the mobile platform under a given driver.Then,based on the inverse solution,establish a Jacobian matrix.When given the drive,the mechanism can move according to the ideal motion trajectory,and there is no break point in the working space,and the speed and acceleration change gently.Finally,the flexibility of the mechanism was analyzed using the local condition number LCI as an evaluation index,and the results showed that,The 2-RPU/UPRS parallel mechanism has the advantages of simple structure,good movement performance and no singular configuration in the working space.It can be better applied in the field of packaging engineering.

关 键 词：2-RPU/UPRS 并联机构 螺旋理论 工作空间 灵巧度 

分 类 号：TH112[机械工程—机械设计及理论] TG502[金属学及工艺—金属切削加工及机床]