2-RPU/UPR并联机构的自由度与工作空间分析

目的 针对目前快递行业需要对大量物品进行分拣、包装，需耗费大量的劳动力，提出一种2-RPU/UPR并联机构进行运动学分析，得到其自由度和工作空间，考虑是否可以取代人工操作。方法 首先利用SolidWorks软件对2-RPU/UPR并联机构进行三维建模，然后利用螺旋理论进行分析，得到其自由度；接着通过运动链参数D-H表示法和欧拉角表示结合求解位置反解；最后，借助Matlab软件求出其工作空间，并改变动定平台半径比，分析工作空间变化情况。结果 2-RPU/UPR并联机构的工作空间范围比较广，形状规则，呈对称分布，动定平台半径比增大，工作空间也会随之增大。结论 2-RPU/UPR并联机构具有xy等2个转动方向和1个移动方向z，通过添加对应的控制程序，可以代替人工进行分拣、包装工作。

Degree of Freedom and Working Space of 2-RPU/UPR Parallel Mechanism

The work aims to propose a 2-RPU/UPR parallel mechanism for kinematics analysis to obtain its degree of freedom and working space and consider whether it can replace manual operation, in view of the fact that the express delivery industry needs to sort and pack a large number of items and consume a lot of labor. Firstly, SolidWorks software was used to build the 3D model for the 2-RPU/PUR parallel mechanism, and then the spiral theory was used for the analysis to obtain its degree of freedom. Then, the DH representation of the kinematic chain and the Euler angle were combined to solve the inverse position kinematics. Finally, the Matlab software was used to find the working space, and the radius ratio of the moving and fixed platforms was changed to analyze the change of working space. The 2-RPU/UPR parallel mechanism was characterized by a wide working space, a regular shape and a symmetric distribution. When the radius ratio of the moving and fixed platforms increased, the working space would increase accordingly. The 2-RPU/UPR parallel mechanism has two directions of rotation (x, y) and one movement direction (z). By adding the corresponding control programs, it can replace manual sorting and packaging work.