混联贴标机构运动学分析及工作空间研究

根据成捆圆钢端面贴标的工程应用场景提出一种新型3T2R混联机构,该机构由3-RRP^4RR并联机构和2自由度旋转串联机构串接而成。提出运用两次蒙特卡洛法相结合的办法求解混联机构工作空间。建立混联机构运动学模型,根据并联机构的几何关系得到反解方程,并确定并联机构工作空间的约束条件,采用蒙特卡洛法得到并联机构工作空间内的点集;根据坐标变换矩阵求得串联机构运动学正解及混联机构运动学正解,并将并联机构工作空间内的点坐标代入混联机构位置正解中,采用蒙特卡洛法得到混联机构的工作空间内的点集。

Kinematics Analysis and Workspace Study of Hybrid Labelling Mechanism

A novel 3T2R hybrid mechanism that consists of a 3-RRP4RR parallel mechanism and a two degree of freedom rotating mechanism is proposed according to engineering application scene of labelling for the round steel end surfaces of a bundle. A method of combining two Monte Carlo methods is proposed to solve the workspace of the hybrid mechanism. The kinematics model of the hybrid mechanism is established. According to the geometric relationship of the parallel mechanism,the inverse solution equation is obtained,and the constraints of the workspace of the parallel mechanism are determined. The set of points in the workspace of the parallel mechanism is obtained by using Monte Carlo method. The kinematics positive solution of the series mechanism and the kinematics positive solution of the hybrid mechanism are obtained according to the coordinate transformation matrix. The coordinates of the points in the workspace of the parallel mechanism is substituted into the positive solution of the position of the hybrid mechanism,and by using Monte Carlo method,the set of points in the workspace of the hybrid mechanism is obtained.