Kinematic Analysis of 3-SPS/UPR Parallel Worktable

Bai Xueqing; Wang Yuan; Li You

doi:10.16578/j.issn.1004.2539.2022.12.024

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Kinematic Analysis of 3-SPS/UPR Parallel Worktable

Development·Application | 更新时间：2023-01-06

- Kinematic Analysis of 3-SPS/UPR Parallel Worktable
- Journal of Mechanical Transmission Vol. 46, Issue 12, Pages: 155-160(2022)
- 作者机构：
  
  1.山西工程职业学院机械工程系，山西太原 030001
  2.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.1004.2539.2022.12.024
  CLC：
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白雪清,王远,李优.3-SPS/UPR并联工作台运动学分析[J].机械传动,2022,46(12):155-160.

Bai Xueqing,Wang Yuan,Li You.Kinematic Analysis of 3-SPS/UPR Parallel Worktable[J].Journal of Mechanical Transmission,2022,46(12):155-160.
白雪清,王远,李优.3-SPS/UPR并联工作台运动学分析[J].机械传动,2022,46(12):155-160. DOI： 10.16578/j.issn.1004.2539.2022.12.024.

Bai Xueqing,Wang Yuan,Li You.Kinematic Analysis of 3-SPS/UPR Parallel Worktable[J].Journal of Mechanical Transmission,2022,46(12):155-160. DOI： 10.16578/j.issn.1004.2539.2022.12.024.

摘要

提出一种以3-SPS/UPR并联机构为主体的工作台，用以辅助少自由度机床对工件进行曲面加工。建立3-SPS/UPR并联机构的运动螺旋矩阵，通过螺旋理论对其进行自由度分析，采用修正的Kutzbach-Grübler公式进行验证；通过机构中的几何关系，采用封闭矢量法求解该机构的位置逆解，并求出该机构的速度Jacobian矩阵；通过三维动态搜索法求解该机构的工作空间；通过Adams软件对该并联工作台进行了运动学仿真。该3-SPS/UPR并联机构能够进行两平移两转动的运动，可提高机床加工效率和加工质量，增大机床加工范围，提高机床的曲面加工的能力。

Abstract

A worktable of 3-SPS/UPR parallel mechanism is proposed, which is used to assist the less degree of freedom machine tool to process the surface of the workpiece. The kinematic screw matrix of the 3-SPS/UPR parallel mechanism is established; its degree of freedom is analyzed by the screw theory and verified by the modified Kutzbach-Grübler formula; through the geometric relationship in the mechanism, the closed vector method is used to solve the inverse position solution of the mechanism, and the velocity Jacobian matrix of the mechanism is derived; the workspace of the mechanism is solved by three-dimensional dynamic search method; the kinematics of the parallel worktable is simulated by the Adams software. The 3-SPS/UPR parallel mechanism can carry out the movement of two translation and two rotation, improve the machining efficiency and quality of the machine tool, increase the machining range of the machine tool and improve the surface machining ability of the machine tool.

关键词

3-SPS/UPR并联机构自由度位置逆解工作空间Adams软件

Keywords

3-SPS/UPR parallel mechanismDegree of freedomPosition inverse solutionWorkspaceAdams software

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