一种新型3-UPRP并联机构的运动学分析

Kinematics of a Novel 3-UPRP Parallel Mechanism

中文关键词: 3UPRP  位置逆解  工作空间  柔性包装

英文关键词: 3UPRP  position inverse solution  work space  flexible packaging

中文摘要:

      目的 提出一种可以应用于柔性包装的新型3-UPRP并联机构。方法 运用螺旋理论和G-K公式计算出该机构的自由度，然后基于位置逆解和机构的约束条件，运用Matlab编程求解机构的工作空间，最后利用SolidWorks对机构进行位移、速度、加速度的分析。结果 该机构具有两转一移的3个自由度，工作空间具有对称性。结论 该机构具有良好的工作空间，运行平稳，没有太大的速度变化，可以广泛应用于工业自动化中的柔性包装等过程。

英文摘要:

      The work aims to present a new 3-UPRP parallel mechanism that can be applied to the flexible packaging. Firstly, the degree of freedom of the mechanism was calculated with screw theory and G-K formula. Then, based on the position inverse solution and the constraint condition of the mechanism, Matlab programming was used to solve the work space of the mechanism; finally, SolidWorks was applied to analyze the displacement, velocity and acceleration of the mechanism. With 3 degrees of freedom of 2R1T, the mechanism had symmetrical work space. Featured by a good work space and smooth running without excessively large velocity jump, the mechanism can be widely applied in the flexible packaging and other processes of industrial automation.