基于同向滑杆支链并联机构的工作空间分析

目的 快递行业每天都需要耗费人工对中型件进行分拣、包装,而中型件需要并联机构有更大的工作空间,相较于旋转驱动,直线型驱动并联机构的工作空间更大,针对上述问题提出一种同向滑杆支链的3-PUPU并联机构.方法 以同向滑杆支链的3-PUPU并联机构为研究对象,首先根据并联机构的几何关系和运动学模型,利用矢量法建立并联机构的运动学求解方程;其次,对影响及约束同向滑杆支链的3-PUPU并联机构工作空间的运动副及运动支链约束条件进行分析;最后,采用三维边界搜索法通过并联机构的运动学方程对同向滑杆支链的3-PUPU并联机构的工作空间进行分析,并以工作空间的体积为目标,研究并联机构的万向铰运动转角及同向滑杆支链对工作空间的影响.结果 研究表明,该并联机构的工作空间具有对称性、内部无明显空洞、截面形状规整;同时,运动副约束与工作空间体积的影响曲线表明同向滑杆支链的移动距离对工作空间的体积影响最大.结论 通过添加可控程序以更大的工作空间来实现同向滑杆支链的3-PUPU并联机构对中型件分拣、包装,为该机构后续的理论研究和实际应用提供了可靠依据.

Workspace Analysis Based on Parallel Mechanism of the Co-Rotating Rod Strut

In the courier industry, daily labor is required to sort and pack medium-sized pieces, which require more work in parallel mechanisms(PM) space, the workspace of the linear drive PM is larger than the rotary drive; therefore, in response to the above-mentioned problem, a co-directional 3-PUPU PM of the slide rod strut chain. The 3-PUPU PM of the homotropic slide rod strut is investigated according to the geometric relationship and kinematic model of the PM, using the vector method to establish the kinematic solution equations for the PM; secondly, to influence and constrain the 3-PUPU PM of the isotropic slider strut chain, The motion vice and motion branch chain constraints of the workspace are analyzed; finally, the three-dimensional boundary search method is used to pass the parallel. The kinematic equations of the PM are analyzed in terms of the workspace of the 3-PUPU PM of the same directional slider strut, and the workspace of the PM is studied with the objective of volume, and the influence on the workspace of the universal hinged movement angle and the co-rotating sliding rod support chain. The study shows that the workspace of this PM has symmetry, no obvious internal cavity and regular cross-sectional shape. The effect of constraint on workspace volume curve shows that the distance of the coiled rod support chain has the greatest effect on the workspace volume. The 3-PUPU PM of the coiled rod support for medium-sized parts picking, sorting, and packing can be achieved by adding a controlled process to the larger workspace packaging; it provides a reliable basis for subsequent theoretical research and practical application of the institution.