摘要
针对包装生产线上盒体粘接工序,提出了一种2-PSR/PUPR并联机构,用于解决生产线上半成品的上胶问题。首先基于螺旋理论对机构的自由度进行计算,分别使用封闭矢量法和D-H法进行机构的位置逆解分析。其次在MATLAB中输入数据运行程序得到可达工作空间。最后给出了盒体上胶的实例分析,证明了机构的可行性。
A 2-PSR/PUPR parallel mechanism is proposed to solve the gluing problem of semi-finished products in packaging production line.Firstly,the degree of freedom of the mechanism is calculated based on the screw theory,and the closed vector method and D-H method are used to analyze the inverse position of the mechanism.Secondly,data running program is input into MATLAB to get the reachable workspace.Finally,an example of gluing on the box is given to prove the feasibility of the mechanism.
作者
李泽辉
宋胜涛
李瑞琴
胡健
Li Zehui;Song Shengtao;Li Ruiqin;Hu Jian(School of Mechanical Engineering, North University of China, Shanxi Taiyuan, 030051, China)
出处
《机械设计与制造工程》
2021年第6期11-15,共5页
Machine Design and Manufacturing Engineering
基金
山西省青年科技研究基金资助项目(201801D221236)。
