基于2-CPR/UPS三平移并联机构的移印机运动学分析

Kinematics Analysis of Pad Printing Machine Based on 2-CPR/UPS Three-translation Parallel Mechanism

目的提出一种基于2-CPR/UPS并联机构的三平移移印机,以扩展并联机构的应用领域,提高移印印刷质量。方法应用螺旋理论求解机构的自由度,并用修正的Kutzbach-Grübler公式进行验证。建立该机构Jacobian矩阵的数学模型,运用极限坐标搜索法求解其工作空间。根据Jacobian矩阵对机构奇异性进行分析,获得灵巧度指标在工作空间中的分布规律。结果该机构可实现三平移运动,工作空间呈长方体形状,内部连续无空洞且无奇异位置,灵巧度指标在工作空间中分布均匀。结论该三平移移印机可满足移印时的运动及工作范围需求,研究结果表明该机构在工作空间中无奇异位置且灵巧度性能良好。

The work aims to propose a novel three-translation pad printing machine based on 2-CPR/UPS parallel mechanism,so as to expand the application filed of parallel mechanism and improve the pad printing quality.The degree of freedom of mechanism was solved by screw theory,and verified with modified Kutzbach-Grübler formula.The Jacobian matrix mathematical model of the mechanism was established.The limit coordinate search method was used to solve the workspace.The singularity of mechanism was analyzed based on Jacobian matrix.The distribution of dexterity index in the workspace was obtained.The mechanism could realize three-translation motions.The shape of the workspace was cuboid,and the interior was continuous without cavity and singular position.The dexterity index was uniformly distributed in the workspace.The novel three-translation pad printing machine can satisfy the requirements of the movement and working range during pad printing.The research results show that the mechanism has no singular position in the workspace and has good dexterity performance.