2T1R印花定位双模式并联机器人机构设计与分析  

Design and Analysis of 2T1R Printing Positioning Dual-Mode Parallel Robot Mechanism

作　　者：王琰 郭飞飞 梁俊侨 闫刚 张楠 刘伟[1] WANG Yan;GUO Feifei;LIANG Junqiao;YAN Gang;ZHANG Nan;LIU Wei(School of Mechanical and Electrical Engineering,Xi'an Polytechnic University,Xi'an 710000,China)

机构地区：[1]西安工程大学机电工程学院,西安710000

出　　处：《组合机床与自动化加工技术》2025年第4期71-77,共7页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：西安工程大学博士科研启动基金项目(BS202106);中国纺织工业联合会科技计划指导项目(2021073);西安市碑林区2023年应用技术研发储备工程项目(GX2312)。

摘　　要：针对目前纺织印花重复叠印次数多时,印花装置重复定位精度不高的问题,提出一种新型的双模式2T1R并联定位机器人机构。通过机构完全解耦的特性设计该机构各部分支链的结构,用螺旋理论求解机构的运动螺旋系以分析机构的自由度,利用闭环矢量法建立机构的运动学逆解方程,用MATLAB求解运动学逆解和正解,对比Adams虚拟样机的运动学仿真结果,验证所建立运动学方程的准确度。利用ANSYS分析机构的承载能力。结果表明,该双模式并联定位机构具有两移动一转动(2T1R)的自由度,可以实现预期的双模式定位运动,且受力时变形量较小。2T1R双模式并联定位机器人具有较好的运动学性能,可以实现精准的平面定位功能,完全解耦的结构特点使得机构的定位精度更高。该定位装置在纺织印花领域具有较好的应用前景。In order to solve the problem of low positioning accuracy of textile printing device due to many times of repeated overprinting,a new dual-mode 2T1R parallel positioning robot mechanism was proposed.The structure of the branch chain of each part of the mechanism is designed through the feature of complete decoupling of the mechanism,the kinematic spiral system of the mechanism is solved by spiral theory to analyze the degree of freedom of the mechanism,the inverse kinematics solution equation of the mechanism is established by closed-loop vector method,and the inverse kinematics solution and forward kinematics solution are solved by MATLAB.The kinematics simulation results of Adams virtual prototype are compared.Verify the accuracy of the kinematic equation.ANSYS is used to analyze the bearing capacity of the mechanism.The dual-mode parallel positioning mechanism has the freedom of two movement and one rotation(2T1R),which can realize the expected dual-mode positioning motion,and the deformation is small when the force is applied.The 2T1R dual-mode parallel positioning robot has good kinematic performance and can realize accurate plane positioning function.The fully decoupled structure features make the positioning accuracy of the mechanism higher.The positioning device has a good application prospect in textile printing field.

关 键 词：2T1R 并联机器人机构 完全解耦 运动学逆解 

分 类 号：TH16[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]