2-UPS/UPR/(rT)PS可重构并联机构的运动学分析及应用

目的 针对产品加工包装流水线上的印刷和装箱环节，提出一种具有双构型的2-UPS/UPR/(rT)PS可重构并联机构。方法 基于螺旋理论，分析得出机构在2种构型下自由度的数目及性质;根据修正的Kutzbach-Grübler公式，验证自由度的计算结果;采用封闭矢量法计算2种模式下机构的运动学反解;求解机构在2种模式下的可达工作空间;分析应用实例，研究机构在进行印刷和装箱2个环节作业时驱动支链线位移的变化，使得机构满足喷码和装箱工作需求。结果 2-UPS/UPR/(rT)PS并联机构具有2R1T、2R2T等2种运动模式，工作空间内部连续。结论 2-UPS/UPR/(rT)PS可重构并联机构通过运动副轴线变化，使机构可在2R1T、2R2T这2种运动模式下进行切换，可应用于产品印刷、装箱环节。

Kinematics Analysis and Application of Reconfigurable 2-UPS/UPR/(rT)PS Parallel Mechanism

The work aims to propose a 2-UPS/UPR/(rT)PS reconfigurable parallel mechanism with dual configuration for the printing and packing links on the product processing and packaging assembly line. Based on the screw theory, the number and properties of degrees of freedom of the mechanism in two configurations were analyzed. The degree of freedom calculation results were verified according to the modified Kutzbach-Grübler formula. The closed vector method was used to calculate the inverse kinematics of the mechanism under the two modes. The reachable workspace of the mechanism in two modes was solved. Through the analysis of application examples, the displacement change of the driving branch line of the mechanism during the two links of printing and packing was studied, and it was concluded that the mechanism could meet the requirements of printing and packing. The 2-UPS/UPR/(rT)PS parallel mechanism had two motion modes of 2R1T and 2R2T, and the workspace was continuous. The 2-UPS/UPR/(rT)PS reconfigurable parallel mechanism can be switched between 2R1T and 2R2T motion modes by changing the axis of the kinematic pair, which can be applied to the printing and packing of products.