基于三转动并联机构的茶叶筛分装置运动学性能研究

 根据片状茶叶筛分的功能需求，引入三维转动并联机构作为茶叶筛分机构．首先建立3-UPS-S型并联机构运动学模型，进行工作空间、灵巧性及奇异性分析．根据该机构在筛分工作空间存在的奇异位形，通过添加冗余驱动方式消除机构奇异性，改进原机构得到4-UPS-S茶叶筛分并联机构，并对其灵巧性及筛分运动轨迹进行求解．分析表明，基于4-UPS-S冗余驱动并联机构的片状茶叶筛分装置具有良好的运动性能，并能实现茶叶分层、分散及透筛的功能，可以满足实际工作需求．

Study of kinematic performance of the tea screening plant based on three rotation parallel mechanism

The 3-UPS-S parallel mechanism is used for the tea screening according to the requirement of screening the flakeshaped tea.The kinematic model was built and the workspace， dexterity and singularity were analyzed. A 4-UPS-S parallel mechanism for tea screening was proposed by adding redundant actuation based on the singularity analysis. The solution of dexterity and motion trail were carried out which indicated that the flake-shaped tea screening plant based on the 4-UPS-S redundant parallel mechanism had a better kinematic performance. The tea can be layered， dispersed， and pass the screen successfully which satisfies the real requirement．