用于平面喷涂机的两种二自由度并联机构运动学性能分析与比较

Analysis and Comparison of Kinematical Performances of Two Kinds of Parallel Mechanisms with 2-DOF on the Plane Sprayer

提出了两种简单实用的二自由度并联机构(简称Ⅰ型、Ⅱ型机构),可作为平面喷涂机的执行机构。分析推导了两种机构末端工作点(用作喷枪位置点)的运动学正反解,并通过对相同尺寸参数条件下两种机构的工作空间进行对比分析,结果表明Ⅱ型机构具有更大的工作空间;同时通过实例运用Matlab对两机构末端工作点完成相同运动轨迹的运动学模型进行仿真并比较,得出两种机构运动学参数的变化规律,并得出Ⅰ型机构的运动学性能优于Ⅱ型机构结论。

In this paper, two simple and practical kinds of 2DOF parallel mechanisms （ mechanism of type I and mechanism of type Ⅱ ） were proposed, which can be used as the actuator for plane sprayer. The direct and inverse kinematics solutions were derived of the two kinds of mechanisms on the terminal operating point （ spray gun posi tion）. And then workspace dimension of the two kinds of mechanisms were compared and analyzed with the same parameters. The present result evidenced that mechanism of type II owned larger workspace. The kinematics models of the two mechanisms which do the same trajectory were simulated by examples using Matlab, variation of mecha nism kinematics parameters were obtained. The results which kinematics performance of type I was superior to type II were derived by comparison. The research of this paper provided the basis for the selection of mechanism, trajec tory planning of the spray gun of the sprayer design, and offered practical value for improving effectiveness of the spray.