基于2-RCU/CUR并联机构的运动学分析

目的随着产品的种类的丰富,出现了各类产品喷码方式不同的问题。为使得喷码机适用于不同产品,文中提出一种转动幅度较大的2-RCU/CUR机构,用于多种类产品喷码。方法应用螺旋理论对2-RCU/CUR机构进行自由度分析,并用改进的G-K公式进行验证,用闭环矢量法对机构的位置分析进行反解,在SolidWorks软件中绘制出机构模型,最后用Matlab软件对机构工作空间编程求解并绘制出工作空间。结果 2-RCU/CUR并联机构具有3个自由度,分别为2个转动自由度和1个移动自由度,在机构的工作空间内,动平台绕y轴的转动可达90°,且在工作空间内没有奇异位型。结论 2-RCU/CUR并联机构结构简单且稳定,工作精度高,工作空间较大,可以适用于多种产品喷码流程,可以提高经济效益。

Kinematics Analysis Based on 2-RCU/CUR Parallel Mechanism

With the variety of products being enriched, the labeling methods for various products are also different. The work aims to propose a 2-RCU/CUR mechanism with large rotation that can be used to label different products, so as to make the marking machines suitable for various products. The degree of freedom of 2-RCU/CUR mechanism was analyzed by screw theory and verified by the improved G-K formula. The closed-loop vector method was used to carry out inverse kinematics on the position of the mechanism, and the mechanism model was drawn in SolidWorks software. Finally, the workspace of the mechanism was programmed and solved by Matlab software and the workspace was drawn by this software. The 2-RCU/CUR parallel mechanism had three degrees of freedom, two for rotation and one for movement. In the workspace of the mechanism, the rotation of the moving platform reached 90° around the y axis, and there was no singularity mode in the workspace. The 2-RCU/CUR parallel mechanism has a simple and stable structure, with high working accuracy and large workspace and can be applied to a variety of product labeling processes to improve the economic benefits.