3-SPS/SP并联机构的设计仿真分析及应用

Design Simulation Analysis and Application of 3-SPS/SP Parallel Mechanism

首先建立3-SPS/SP并联机构模型,基于螺旋理论求解其自由度。接着运用坐标变换法求出并联机构的位置逆解,然后用ADAMS软件对并联机构进行动力学分析,分别得出正解仿真和逆解仿真的结果,再运用MATLAB软件编程求得并联机构的可达工作空间。最后以一个在桶状物体表面进行商标喷涂为实例,对该并联机构进行了仿真分析,结果表明:3-SPS/SP并联机构具有4个自由度,分别是绕X轴、Y轴、Z轴的转动和沿Z轴的上下移动,其运行平稳,工作空间较大,并且在整个运动过程中动作连续,没有出现空洞的部分。

Firstly, a 3-SPS/SP parallel mechanism model is established, and its degrees of freedom are solved based on the screw theory. The coordinate transformation method is used to obtain the position inverse solution of the parallel mechanism. The dynamic analysis of the parallel mechanism is carried out with ADAMS software, and the results of the forward and inverse simulations are obtained respectively. Then use MATLAB software programming to get the reachable working space of the parallel mechanism. Finally, the parallel mechanism is simulated and analyzed by taking a trademark spraying on the surface of a barrel-shaped object as an example. The results show that the 3-SPS/SP parallel mechanism has 4 degrees of freedom, which are the rotation around the X-axis, the Y-axis, the Z-axis and the up-and-down movement along the Z-axis. It runs smoothly and has a large working space. The movement is continuous throughout the movement, and there are no hollow parts.