新型四自由度3T1R并联机器人机构运动学分析与优化设计

目的 针对自动化生产线分拣需求，提出一种新型四自由度的三平移一转动（3T1R）并联机器人机构。方法 根据方位特征集设计理论验证并联机器人机构的运动性质。利用机构的构型特点建立运动学方程模型，对其进行位置正解和逆解的分析，通过数值法搜索得到并联机器人机构的工作空间图形和转动能力等高线图。同时分析并联机器人机构的雅可比矩阵JX以及奇异性。最后以工作空间最大化作为适应度函数，基于遗传算法对机构结构尺寸进行最优化分析。结果 该机构操作空间具有规则形状、无空洞、较大的特点，优化后的并联机器人机构工作空间性能提升45%。结论 操作空间内运动灵活性较好，优化后工作空间性能得到显著改善。在电子包装自动化生产线搬运分拣领域具有较好的应用前景。

Kinematics Analysis and Optimization Design of a New Four Degree of Freedom 3T1R Parallel Robot Mechanism

The work aims to propose a novel 4-DOF 3-translational-1-rotational (3T1R) parallel robot mechanism to meet the needs of sorting in automatic production line. The kinematic properties of the parallel mechanism were verified according to the design theory of orientation feature set. Based on the configuration characteristics of the mechanism, the kinematics equation model was established, and the forward and inverse position solutions of the mechanism were analyzed. The workspace figure and rotation capacity contour map of the parallel mechanism were obtained by numerical method. At the same time, the Jacobian matrix JX and singularity of the parallel mechanism were analyzed. Finally, with the maximum workspace as the fitness function, the structure size of the mechanism was optimized based on genetic algorithm. The operating space of the mechanism had the characteristics of regular shape, no cavity, large size, and good motion flexibility in the operating space. The workspace performance of the optimized parallel mechanism was increased by 45%. The kinematic dexterity in the workspace is good. The performance of the workspace is significantly improved after optimization. It has a good application prospect in the field of electronic packaging automatic production line handling and sorting.