| 摘要: |
| 目的 针对口罩包装线中，操作简单且重复性高的装盒工序采用人工成本过高情况，提出一种2-RPS/UCR并联机构用于口罩装盒工序。方法 建立2-RPS/UCR并联机构的模型;采用螺旋理论的方法以及修正的G-K公式分析此机构所具有的自由度;机构的位置逆解可以采用闭环矢量法结合杆长的约束条件求出;该机构的工作空间通过Matlab软件求出。结果 该机构可以实现两转一移的运动，其工作空间形状规则，范围较广，可以运用于口罩装盒。结论 2-RPS/UCR并联机构工作稳定，具有良好的工作性能和连续无空洞的工作空间，可以满足口罩包装线中口罩装盒所需的运动和工作范围。 |
| 关键词: 2-RPS/UCR并联机构 位置逆解 工作空间 口罩包装线 |
| DOI：10.19554/j.cnki.1001-3563.2021.09.030 |
| 分类号:TB486;TH112 |
| 基金项目:山西省重点研发计划(201803D421028，201903D421051) |
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| Configuration Design and Position Analysis of 2-RPS/UCR Parallel Mechanism |
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JIA Zeng-yu, LI Rui-qin, CHAI Chao, SUN Bin, GAO Hai-bao
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(North University of China, Taiyuan 030051, China)
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| Abstract: |
| The work aims to propose a 2-RPS/UCR parallel mechanism for the mask boxing process, aiming at the high labor cost in the mask packaging line with simple operation and high repeatability. The model of the 2-RPS/UCR parallel mechanism is established, the degree of freedom of the mechanism is analyzed with the method of screw theory and the modified GK formula, according to the constraint condition of the rod length, the inverse solution of the mechanism position is obtained by the closed-loop vector method, the working space of the organization is obtained by Matlab software. The mechanism can realize 2R1T movements. Its working space has a regular shape and a wide range, so it can be used in the packing of masks. The 2-RPS/UCR parallel mechanism works stably, has good working performance and continuous void-free working space, which can satisfy the requirements of the mask boxing movement and working range in the mask packaging line. |
| Key words: 2-SPR/UCR parallel mechanism inverse position solution workspace mask packaging line |
