2(2-UPR+RPU)串并混联机构的位置和工作空间分析

Location and Workspace Analysis of 2(2-UPR+RPU)Serial-parallel Hybrid Mechanism

针对目前快递行业所使用的并联机构运动空间较小、应用范围有限的问题,结合串联机构工作空间大、运动灵活等优点,基于2-UPR+RPU少自由度并联机构,提出一种2(2-UPR+RPU)串并联形式的混联机构,并对其进行位置逆解和工作空间分析,以期能够在工业生产中得以应用。首先,在SolidWorks中对该混联机构建模,利用螺旋理论进行分析,得到其自由度;接着,应用连续法求解机构的位置反解;最后,运用CAD变量几何法在SolidWorks进行运动模拟并得到加工点轨迹数据,借助Matlab软件求出其工作空间。2(2-UPR+RPU)混联机构的工作空间范围较之单层并联机构增大很多,形状规则,呈对称分布。2(2-UPR+RPU)混联机构同时兼有串联机构的灵活性和并联机构的高刚度和精度,通过相应的程序控制,可以代替人工工作。

In order to overcome the shortcomings of the parallel mechanism used in express delivery industry,such as small motion space and limited application scope,a 2(2-UPR+RPU)series-parallel hybrid mechanism is proposed based on the 2-UPR+RPU low-DOF parallel mechanism.The inverse position solution and workspace analysis are carried out in order to be applied in industrial production.Firstly,the hybrid mechanism is modeled in SolidWorks,and its degree of freedom is obtained by analyzing the screw theory.Then,the position inverse solution of the mechanism is solved by continuous method.Finally,the motion simulation is carried out in SolidWorks by using CAD variable geometry method and the track data of the processing points are obtained,and the workspace is obtained by using Matlab software.The workspace of 2(2-UPR+RPU)hybrid mechanism is much larger than that of single-layer parallel mechanism,and its shape is regular and symmetrical.The 2(2-UPR+RPU)hybrid mechanism has both the flexibility of series mechanism and the high rigidity and precision of parallel mechanism.Through corresponding program control,it can replace manual work.