三平移并联茶叶筛分机机构设计及运动仿真

Mechanism design and kinematics simulation of three translation tea sieving machine

为解决传统茶叶筛分机械不能实现多维振动的问题,提出了一种满足茶叶筛分需要的空间多维振动并联筛分机思想,并且基于并联机构的组成原理设计了筛分机的主体机构.该并联机构包含3条空间相互垂直的C-R-R支路,以动平台为茶叶筛分机筛面,能够实现3个方向的平移.应用D-H矩阵对该机构进行运动学建模,并且给出了运动学的正解和反解.结果证明筛面可以达到理想的运动需求,可以将此机构用于茶叶筛分机.在Pro/E中建立该并联机构的虚拟样机模型,利用Mech/Pro给虚拟样机添加运动副并导入ADAMS软件中,利用ADAMS进行仿真,验证了运动学正、反解的正确性.最后通过试验表明,X,Y,Z三方向的振动使得茶叶透筛时间缩短,筛分效果最优.

In order to solve the problem of the multi-dimensional vibration that the traditional tea sieving machine cannot complete the multi-dimensional vibration, a new thought about multi-di- mensional vibrating parallel mechanism tea sieving machine which could satisfy the needs of tea screening was proposed. Based on the parallel mechanism composition principles, the main body mechanism of tea sieving machine was designed. This parallel mechanism contained three C-R-R ？ chains Which were vertical to each other in space. D-H matrix was applied to establish the kine- matical .model, and the kinematical positive and inverse solutions were presented. The result showed ,that the moving platform could get the ideal motion, and this parallel mechanism could be applied to the tea sieving machine. The virtual prototype of this mechanism was built by using Pro/E,and the model was added with kinematical pairs and imported to ADAMS software with Mech/Pro to complete kinematical simulation. The result of simulation proved the correction of the kinematical positive and inverse solution. Finally the test shows that the X,Y, Z three directions of vibration shorten the time through the sieve and can get the best sieving performance.