3-UPS/SP并联机构的逆运动学与可达工作空间分析

Inverse Kinematics and Reachable Workspace of 3-UPS/SP Parallel Mechanism

中文关键词: 并联机构  自由度  位置逆解  Matlab  工作空间

英文关键词: parallel mechanism  degree of freedom  inverse position solution  Matlab  workspace

中文摘要:

      目的 针对目前包装领域大量物品需要进行人工点胶与喷漆的现状，设计一种3-UPS/SP并联机构应用于包装领域的点胶与喷漆，以提高工作效率。方法 运用螺旋理论对该机构进行自由度分析，并用修正的Kutzbach-Grübler公式对该机构的自由度进行验证。接着用封闭矢量法求出该机构的位置逆解，并根据位置逆解和该机构之间的相互约束条件，运用Matlab软件编程求出该机构的可达工作空间。最后对该机构在点胶与喷漆方面的应用进行了实例分析。结果 3-UPS/SP并联机构具有3转（绕x轴、y轴和z轴的转动）1移（沿z轴方向的移动）4个自由度，拥有较大的工作空间，并且在运动过程中没有出现歧义点。结论 此机构具有较大的工作空间，自由度多、运动灵活、性能良好，可以应用于包装领域进行点胶与喷漆。

英文摘要:

      In view of the large number of articles in the packaging field that require manual dispensing and painting, which is time-consuming and laborious, the paper aims to design a 3-UPS/SP parallel mechanism for dispensing and painting of packaging to improve work efficiency. The degree of freedom of the mechanism was analyzed by the spiral theory, and was verified by the modified Kutzbach-Grübler formula. Then, the closed position vector method was used to obtain the inverse position solution of the mechanism. According to the constraint conditions between the inverse position solution and the mechanism, the accessible working space of the mechanism was calculated by Matlab software programming. Finally, the application of this mechanism in dispensing and painting was analyzed through cases. The 3-UPS/SP parallel mechanism has 4 degrees of freedom which include three revolutions (rotation around the x-axis, y-axis and z-axis) and one movement (movement along the z-axis direction). It also has a large working space, and there is no ambiguity during the exercise. The mechanism has a large working space, many degrees of freedom, flexible movement, and good performance, and can be used for dispensing and painting of packaging.