基于2-UPR/UPRR并联机构装盒装置的运动性能分析

目的针对生产线上一类小包装84消毒液的装盒工序,提出一种基于2-UPR/UPRR并联机构的简易装盒装置,对该并联机构进行运动性能分析。方法基于螺旋理论对2-UPR/UPRR并联机构的自由度进行分析,并利用闭环矢量法算出该机构的位姿逆解;然后利用一阶影响系数法求解出该机构的速度关系式及雅可比矩阵,并利用ADAMS软件对其运动性能进行仿真分析;最后应用数值搜索法求解出该机构的工作空间。结果该机构的自由度为2R1T,动平台质心速度变化曲线光滑平稳,且始终保持在600 mm/s以内,实际装盒工作空间为一个尺寸为400 mm×400 mm的规则矩形。结论该并联机构的运动性能优异,能满足生产线上对小包装84消毒液的装盒要求,提高了生产效率。

Motion Performance Analysis of Boxing Device Based on 2-UPR/UPRR Parallel Mechanism

The work aims to propose a simple boxing device based on 2-UPR/UPRR parallel mechanism according to the boxing process for the small packages of 84 disinfectant on production line and analyze the motion performance of the mechanism. Based on spiral theory, the freedom degree of 2-UPR/UPRR parallel mechanism was analyzed, and the posture inverse solution was calculated by closed loop vector method. Then, the velocity relation and Jacobian matrix of the mechanism were solved by the first-order influence coefficient method, and the motion performance of the mechanism was simulated with the ADAMS software. Finally, the workspace of this mechanism was solved by numerical search method. The mechanism had a freedom degree of 2R1T and the change curve of velocity of the moving platform was smooth and stable, and always remained within 600 mm/s. The actual boxing workspace was a regular rectangle with dimensions of 400 mm × 400 mm. The parallel mechanism has excellent motion performance and can meet the packing requirements of small packages for 84 disinfectant on the production line, thus improving the production efficiency.