SPR+UPS+UPR并联机构的逆运动学和工作空间分析

Inverse Kinematics and Workspace Analysis of SPR+UPS+UPR Parallel Mechanism

中文关键词: 并联机构  自由度  位置逆解  工作空间  贴标与喷码

英文关键词: parallel mechanism  degrees of freedom  inverse kinematics  workspace  label and spray code

中文摘要:

      目的 提出一种SPR+UPS+UPR非对称并联机构，用于不同类型产品的贴标与喷码。方法 首先用SolidWorks对机构进行三维建模;然后用螺旋理论和修正的G-K公式计算机构的自由度;并用封闭矢量环法求出机构的位置逆解;最后用三维动态法和Matlab编程求出该机构的可达工作空间。结果 SPR+ UPS+UPR并联机构共有两转一移3个自由度，且运动性能良好。结论 该机构可用于不同类型产品的贴标与喷码，降低了成本，提高了效率。

英文摘要:

      The paper aims to propose an asymmetric SPR+UPS+UPR parallel mechanism and use it for labeling and spraying code of different types of products. Firstly, SolidWorks was used for 3d modeling of the mechanism. Then, the degree of freedom of the mechanism was calculated by the helical theory and the modified G-K formula. The inverse kinematics of the mechanism was obtained by the closed vector loop method. Finally, the reachable workspace of the mechanism was obtained by 3d dynamic method and MATLAB programming. The UPR+SPR+UPS parallel mechanism had 3 degrees of freedom in two revolutions and one shift, and the kinematic performance was good. The mechanism can be used for labeling and spraying code of different types of products. It reduces costs and improves efficiency.