基于3P(4S)机构的易损线辊包装线设计与分析

目的 防止大质量的线辊表面的金刚线在包装工作中受到碰撞、挤压，同时解决包装工艺流程复杂、空间布局不合理及人工效率低等问题。方法 基于三平动并联机构设计易损类线辊包装生产线，首先分析系统的整体结构功能，采用模块设计法分别对包装线的关键模块进行结构设计。针对3P(4S)并联机器人利用矢量法进行位置正反解分析，使用数值法对其工作空间进行求解，利用拉格朗日法分析并联机器人的动力学，并在Adams与Matlab软件中验证分析结果。最后，基于MCD与Simulink软件对包含有并联机器人模块的易损类线辊包装生产线进行联合仿真。结果 在NX MCD与Simulink联合仿真中，各部分运动连续且并联机械手模块运动稳定并到达所需位置。整个易损类线辊包装生产线可完整连续工作，实现了易损类线辊包装生产线的自动化包装，包装的生产效率由2 min提高到46 s。结论 基于3P(4S)机构的易损类线辊包装线能很好地解决表面易损类线辊包装线自动化问题，可应用于稳定性要求高、大负载、包装工艺复杂的线辊类产品包装生产线中。

Design and Analysis of Vulnerable Wire Roller Packaging Line Based on 3P(4S) Mechanism

The work aims to prevent the diamond wire on the surface of heavy wire roller from being collided and squeezed in packaging, and solve the problems of complex packaging process, unreasonable space layout and low labor efficiency. Based on the three translation parallel mechanism, the vulnerable wire roller packaging production line was designed. First, the overall structure and function of the system were analyzed, and the key modules of the packaging line were designed by module design method. For 3P (4S) parallel robot, vector method was used to analyze the positive and negative position solutions, numerical method was used to solve its workspace, Lagrangian method was used to analyze the dynamics of the parallel robot, and the analysis results were verified in Adams and Matlab software. Finally, based on MCD and Simulink software, the vulnerable wire roller packaging production line including parallel robot module was jointly simulated. In joint simulation of NX MCD and Simulink, the motion of each part was continuous and the motion of the parallel manipulator module was stable and reached the desired position. The vulnerable wire roller packaging production line can work continuously, realizing the automatic packaging of the vulnerable wire roller packaging production line, and the production efficiency of packaging was improved from 2 min to 46 s. The vulnerable wire roller packaging line based on 3P (4S) mechanism can well solve the automation problem of the surface vulnerable wire roller packaging line, and can be applied to the wire roller packaging production line with high stability requirements, heavy load and complex packaging process.