路伟笑,李虹,李亚丽,马春生,李瑞琴.2-SPR/UPU新型并联机构运动性能分析[J].包装工程,2021,42(7):225-230.
LU Wei-xiao,LI Hong,LI Ya-li,MA Chun-sheng,LI Rui-qin.Motion Performance Analysis of 2-SPR/UPU New Parallel Mechanism[J].Packaging Engineering,2021,42(7):225-230. |
| 2-SPR/UPU新型并联机构运动性能分析 |
| Motion Performance Analysis of 2-SPR/UPU New Parallel Mechanism |
| 投稿时间：2020-07-05 |
| DOI：10.19554/j.cnki.1001-3563.2021.07.031 |
| 中文关键词: 2-SPR/UPU 并联机构 位置反解 工作空间 产品分拣 |
| 英文关键词: 2-SPR/UPU parallel mechanism reverse solution of position workspace product sorting |
| 基金项目:山西省自然科学基金(201801D121183) |
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| 中文摘要: |
| 目的 针对流水线中对安全质量有要求的产品分拣过程，提出一种2-SPR/UPU并联机构为主体的机器人，用于产品的分拣与装箱，便于减少人力，提高效率。方法 首先用螺旋理论和修正的G-K公式对并联机构进行自由度的分析;其次采用封闭矢量法求解机构的位置反解;最后利用SolidWorks软件求解机构的工作空间，并在Matlab中进行编程绘制出机构的空间图。结果 该并联机构具有3个自由度(两转一移)，在X，Y，Z 3个方向的空间运动范围分别是−35°~35°，−35°~35°，290~380 mm。机构的工作空间呈蜘蛛网状，内部连续无空洞，说明其工作空间没有奇异点的出现，运动性能良好。 结论 2-SPR/UPU并联机构结构简单、平稳性良好且工作空间范围大，其具有的两转一移特性可以提高产品的检测分拣与装箱的效率。 |
| 英文摘要: |
| A 2-SPR/UPU parallel mechanism robot is proposed for the product sorting process in the assembly line, which requires safety and quality. It is used for the sorting and packing of products, so as to reduce manpower and improve efficiency. Firstly, the degree of freedom of parallel mechanism is analyzed by using spiral theory and modified G-K formula. Secondly, the closed vector method is used to solve the inverse solution of position of the mechanism. Finally, the Solidworks software is used to solve the workspace of the mechanism, and the spatial diagram of the mechanism is drawn by programming in Matlab. The parallel mechanism has 3 degrees of freedom (two rotations and one movement), and the spatial motion ranges in X, Y, and Z directions are −35°~35°, −35°~35°, and 290~380 mm respectively. The workspace of the mechanism is spider-net with no continuous void inside, indicating that there is no singularity in the workspace and the motion performance is good. 2-SPR/UPU parallel mechanism has simple structure, good stability and large workspace, whose characteristic of two-turn and one-shift can improve the efficiency of product detection, sorting and packing. |
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