Inverse Kinematics and Reachable Workspace of UPS/UPR/SP Parallel Mechanism

Longfei Li; Yaohong Zhao; Bin Sun; Ruiqin Li; Guowang Pang

doi:10.16578/j.issn.1004.2539.2022.04.013

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Inverse Kinematics and Reachable Workspace of UPS/UPR/SP Parallel Mechanism

Test·Analysis | 更新时间：2022-09-25

- Inverse Kinematics and Reachable Workspace of UPS/UPR/SP Parallel Mechanism
- Journal of Mechanical Transmission Vol. 46, Issue 4, Pages: 89-94(2022)
- 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.1004.2539.2022.04.013
  CLC：
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李龙飞,赵耀虹,孙斌等.UPS/UPR/SP并联机构的逆运动学与可达工作空间分析[J].机械传动,2022,46(04):89-94.

Li Longfei,Zhao Yaohong,Sun Bin,et al.Inverse Kinematics and Reachable Workspace of UPS/UPR/SP Parallel Mechanism[J].Journal of Mechanical Transmission,2022,46(04):89-94.
李龙飞,赵耀虹,孙斌等.UPS/UPR/SP并联机构的逆运动学与可达工作空间分析[J].机械传动,2022,46(04):89-94. DOI： 10.16578/j.issn.1004.2539.2022.04.013.

Li Longfei,Zhao Yaohong,Sun Bin,et al.Inverse Kinematics and Reachable Workspace of UPS/UPR/SP Parallel Mechanism[J].Journal of Mechanical Transmission,2022,46(04):89-94. DOI： 10.16578/j.issn.1004.2539.2022.04.013.

摘要

针对于当前货物分拣费时、费力、准确度低等问题，提出了一种UPS/UPR/SP并联机构，考虑将其应用于包装分拣领域以解放双手。首先，采用螺旋理论分析了UPS/UPR/SP并联机构的自由度，并基于改进的Kutzbach-Grübler公式对该机构的自由度进行了分析和验证；然后，采用粒子群优化算法（Particle swarm optimization，PSO）以及封闭矢量法对该机构的位置正逆解进行求解，并运用极限搜索法在Matlab软件中求解出该机构的可达工作空间；最后，将该机构具体应用于位置累计精度要求高的快递分拣工作中。结果表明，UPS/UPR/SP并联机构具有二转动一移动3个自由度，动平台末端运动精确，工作空间连续且无间断；研究的机构运动灵活，完全满足快递物流的货物分拣工作。

Abstract

Considering that the sorting of goods is time-consuming，laborious and not accurate enough，a UPS/UPR/SP parallel mechanism is proposed，which is considered to be applied in the field of packaging sorting to liberate both hands. Firstly，the degree of freedom of UPS/UPR/SP parallel mechanism is analyzed by using screw theory，and the degree of freedom of the mechanism is analyzed and verified based on the improved Kutzbach-Grübler formula； then，particle swarm optimization （PSO） algorithm and closed vector method are used to solve the forward and inverse solutions of the mechanism，and the reachable workspace of the mechanism is solved by using the limit search method in Matlab software； Finally，the mechanism is applied to the express sorting with high accuracy of position accumulation. The results show that the UPS/UPR/SP parallel mechanism has three degrees of freedom of two rotations and one movement，the end movement of the moving platform is accurate，and the workspace is continuous and uninterrupted. The mechanism is flexible and can fully meet the requirements of express logistics.

关键词

UPS/UPR/SP并联机构位置逆解位置正解工作空间分拣

Keywords

UPS/UPR/SPParallel mechanismInverse position analysisForward position analysisWorkspaceSorting

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