Research of Kinematics and Workspace of 2-SPR/(U+UPR)P(vA) Reconfigurable Parallel Mechanism

Chunsheng Ma; Wenbo Mi; Xiaoqin Yin; Zhendong Ma

doi:10.16578/j.issn.1004.2539.2021.06.001

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Research of Kinematics and Workspace of 2-SPR/(U+UPR)P(vA) Reconfigurable Parallel Mechanism

Theory·Reserach | 更新时间：2022-11-10

- Research of Kinematics and Workspace of 2-SPR/(U+UPR)P(vA) Reconfigurable Parallel Mechanism
- Journal of Mechanical Transmission Vol. 45, Issue 6, Pages: 1-7(2021)
- 作者机构：
  
  1.中北大学机械工程学院，山西太原 030051
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.06.001
  CLC：
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马春生,米文博,尹晓秦等.2-SPR/（U+UPR）P（vA）可重构并联机构的运动学与工作空间研究[J].机械传动,2021,45(06):1-7.

Ma Chunsheng,Mi Wenbo,Yin Xiaoqin,et al.Research of Kinematics and Workspace of 2-SPR/(U+UPR)P(vA) Reconfigurable Parallel Mechanism[J].Journal of Mechanical Transmission,2021,45(06):1-7.
马春生,米文博,尹晓秦等.2-SPR/（U+UPR）P（vA）可重构并联机构的运动学与工作空间研究[J].机械传动,2021,45(06):1-7. DOI： 10.16578/j.issn.1004.2539.2021.06.001.

Ma Chunsheng,Mi Wenbo,Yin Xiaoqin,et al.Research of Kinematics and Workspace of 2-SPR/(U+UPR)P(vA) Reconfigurable Parallel Mechanism[J].Journal of Mechanical Transmission,2021,45(06):1-7. DOI： 10.16578/j.issn.1004.2539.2021.06.001.

摘要

提出了一种含可重构运动副的2-SPR/（U+UPR）P（vA）冗余并联机构，可应用于并联操作平台。首先，建立了2-SPR/（U+UPR）P（vA）并联机构的螺旋矩阵，求解机构在R相和U相下的自由度，并应用修正的Kutzbach-Grübler公式对机构的自由度进行了验证；其次，应用闭环矢量法求解机构的两组运动学逆解并验证、应用粒子群优化算法研究建立机构在R相下的正解模型并验证；最后，联合使用SolidWorks和Matlab软件求解了机构在R相下的可达工作空间和U相下的平动工作空间。研究结果为该机构的进一步优化和实际应用提供了理论支持。

Abstract

A 2-SPR/(U+UPR)P(vA) redundant parallel mechanism with reconfigurable kinematic pairs is proposed，which can be applied to parallel operation platform. Firstly，the spiral matrix of the 2-SPR/(U+UPR)P(vA) parallel mechanism is established，the DOF of the mechanism under the R and U phases are solved，and the DOF of the mechanism are verified by using modified Kutzbach-Grübler formula. Secondly，the closed-loop vector method is used to solve the two sets of inverse kinematic solutions of the mechanism and verification，and the particle swarm optimization algorithm is used to study and establish the positive solution model of the mechanism under the R phase and verify. Finally，software to solve the mechanism's reachable workspace under the R phase and the translational workspace under the U phase are solved using SolidWorks combing with Matlab. The research results provide theoretical support for the further optimization and practical application of the mechanism.

关键词

可重构并联机构运动学分析粒子群优化工作空间

Keywords

Reconfigurable parallel mechanismKinematics analysisParticle swarm optimizationWorkspace

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