应用于药品包装生产线的2-UPR/RSPR并联机构的工作空间分析

目的针对药品包装生产线后端对工人数量需求多、劳动强度大等问题,提出一种具有较大工作空间的2-UPR/RSPR并联机构,可应用于药品包装生产线的装箱和码垛环节。方法建立2-UPR/RSPR并联机构的螺旋矩阵,并应用G-K公式进行机构自由度的求解和验证,综合应用闭环矢量法和D-H法求解机构的运动学逆解。通过三维模型进行运动仿真获得机构的可达工作空间,联合使用SolidWorks和Matlab软件验证机构的工作空间。给出该机构在药品包装生产线上的应用实例。结果2-UPR/RSPR并联机构具有4个自由度,机构工作空间为双伞形,动平台最大执行角度可达90°,能满足药品包装的需求。结论2-UPR/RSPR并联机构应用于药品包装生产线的后端,不仅提高了包装效率,也提升了药品包装的智能化程度。

Workspace of 2-UPR/RSPR Parallel Mechanism Applied to Medicine Packaging Production Line

The work aims to propose a 2-UPR/RSPR parallel mechanism with large workspace, which can be applied to packaging and palletizing in the medicine packaging production line for saving the number of workers and reducing labor intensity. A screw matrix of 2-UPR/RSPR parallel mechanism was established. The degrees of freedom of the mechanism were analyzed with the modified G-K formula. The inverse kinematics of the mechanism was solved jointly with closed-loop vector method and D-H method. The reachable workspace of the mechanism was obtained by dynamic simulation of three-dimensional model. The workspace of the mechanism was verified jointly with SolidWorks and Matlab software. The application example of this mechanism in medicine packaging production line was given. The results showed that 2-UPR/RSPR parallel mechanism had four degrees of freedom, the workspace of the mechanism was double umbrella, and the maximum execution angle of the moving platform could reach 90 degrees, which could meet the needs of drug packaging. 2-UPR/RSPR parallel mechanism applied to the back end of medicine packaging production line can not only improve packaging efficiency, but also improve the intelligent degree of medicine packaging.