3-UPU型并联机构正向运动位置分析及工作空间研究

Research of Positive Movement Position and Workspace on 3-UPU Translational Parallel Mechanism

采用旋量理论,并结合多项式连续法和代数拓扑法,提出多项式连续拓扑解析法,求解正向运动位置解,可以避免工作空间解析式难表达和奇异现象;基于3-UPU型并联机构模型,进行运动特性分析,并运用三维软件Solid Works几何分析法选取尺度最优的并联机构模型和Simmechanics建模仿真法对其进行可视化工作空间研究,进而通过Matlab命令以数据化显示工作空间所有坐标点集。结果表明:尺寸优化后的3-UPU并联机构工作空间点集跳跃幅度小,运动更稳定。从而验证了该方法的有效性,可以为并联机构的结构优化设计和性能改进提供可视化依据,在工程应用上具有重要意义。

Based on screw theory, and combined with polynomial continuous method and algebraic topology method in this paper, proposed a polynomial continuous topological analytic method to solve the positive movement position solution of parallel mechanism,which can avoid the work space analytic expression and the strange phenomenon. Analysis motion characteristics based on the model of 3-UPU parallel mechanism, And using the geometric analysis of SolidWorks to get the optimal parallel mechanism model as well as using Simmechanics modeling and simulation method to research the visual workspace ,then through Matlab t.o display all the coordinate point sets of workspace in the form of digital. The results show that the working space with the optimized size is smaller, and the movement is more stable. So the method is effective and can be used to provide visual basis for the structural optimization design and performance improvement of parallel mechanism, which has important significance in engineering application.