双模式可重构并联机构的构型及其在酒盒产线中的应用

Configuration of Dual-mode Reconfigurable Parallel Mechanism and Its Application in Wine Box Production Line

目的为实现酒盒生产线上酒盒胶线点胶和酒盒底座清废环节的自动化,提出一种双模式可重构并联机构。方法基于螺旋理论分析该机构在2种模式下的自由度,利用闭环矢量法和D-H法求得对应模式下的位置逆解,采用数值法求解机构工作空间、灵巧度和转动能力指标,给出该机构的应用实例。结果该机构在2-URU/RRC模式下具有3T自由度,2-URU/URC模式下具有3T1R自由度,工作空间连续且无空洞,获得2-URU/RRC模式下灵巧度指标分布规律和2-URU/URC模式下动平台转动能力。结论该机构在2-URU/RRC模式下可满足胶线点胶作业需求,在2-URU/URC模式下可满足底座清废作业需求,提高了酒盒生产线自动化程度。

The work aims to propose a dual-mode reconfigurable parallel mechanism to realize automation of the dis-pensing of the wine box glue line and the scrap-clearing of the wine box base in the wine box production line.The degrees of freedom of the mechanism in two modes were analyzed based on screw theory.The closed-loop vector method and D-H method were used to obtain the inverse solution of the position in the corresponding mode.The numerical method was used to solve the workspace,dexterity and rotation ability indexes of the mechanism.The application example of the me-chanism was given.The mechanism had 3T degrees of freedom in 2-URU/RRC mode and 3T1R degrees of freedom in 2-URU/URC mode.The workspace was continuous and there was no hole.The distribution of dexterity index in 2-URU/RRC mode and the rotation ability of moving platform in 2-URU/URC mode were obtained.The mechanism can meet the needs of dispensing operation under 2-URU/RRC mode,and can meet the needs of base scrap-clearing operation under 2-URU/URC mode,which improves the automation degree of wine box production line.