| 摘要: |
| 目的 针对目前大量的快递件需要进行分拣和搬运，为解决人力成本问题并提高物流线上的自动化程度，提出一种2-RPU/2-SPU并联机构。方法 用螺旋理论对此机构进行自由度分析，求出此机构的运动约束。通过闭环矢量法求出该机构的位置逆解和各个支链间的相互约束条件。通过逆解和约束对该机构的运动进行仿真，求出此机构的可达工作范围。结果 2-RPU/2-SPU并联机构具有两转两移(2R2T)4个自由度，分别是沿ya轴移动，沿za轴移动，绕xa轴转动，绕ya轴转动，动作较灵活，工作空间范围较大，并且在机构运动过程中没有出现奇异位形的情况。结论 2-RPU/2-SPU并联机构具有较大的工作范围，可以在物流线上进行分拣工作，并且在分拣过程中可以实现快速、精准控制，工作过程较灵活，运动性能良好，其中2R2T的运动性能能更好地适应分拣机构斜置时的分拣。 |
| 关键词: 2-RPU/2-SPU 并联机构 逆运动学 工作空间 物流分拣 |
| DOI：10.19554/j.cnki.1001-3563.2022.07.022 |
| 分类号:TB486; TH112 |
| 基金项目:山西省重点研发计划(201803D421028，201903D421051) |
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| Design of a 2-RPU/2-SPU Parallel Mechanism for Logistics and Express Sorting |
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FAN Wen-long, LI Rui-qin, WANG Chun-zhen, WANG Zhi-hao, LIU Jian-guo
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(School of Mechanical Engineering, North University of China, Taiyuan 030051, China)
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| Abstract: |
| The work aims to propose a 2-RPU/2-SPU parallel mechanism to solve the problem of labor cost and improve the degree of automation on the logistics line, in view of the need for sorting and handling of a large number of express items. Firstly, the degree of freedom of 2-RPU/2-SPU mechanism was analyzed with screw theory to obtain the motion constraints of the mechanism. The position inverse solution of the mechanism and the mutual constraints between limbs were obtained with closed-loop vector method. Through inverse solution and constraint, the motion of the mechanism was simulated, and the reachable working range of the mechanism was obtained. The 2-RPU/2-SPU parallel mechanism had four degrees of freedom (2R2T), namely, two rotations along xa and ya respectively and two translations along ya and za respectively, which made the mechanism more flexible and had a large range of workspace, and there was no singularity in the process of mechanism motion. The 2-RPU/2-SPU parallel mechanism has large working range. It can perform the sorting work on the logistics line. In addition, it can realize fast and accurate control in the sorting process. It has relatively flexible working process and good motion performance, among which the motion performance of 2R2T can better adapt to the sorting when the sorting mechanism is placed in an incline position. |
| Key words: 2-RPU/2-SPU parallel mechanism inverse kinematics workspace logistics sorting |
