4-CPS/UPU并联机构运动学分析与仿真

刘娟; 李瑞琴; 王远; 宁峰平

doi:10.16578/j.issn.1004.2539.2023.07.013

您当前的位置：

首页 >

文章列表页 >

4-CPS/UPU并联机构运动学分析与仿真

设计计算 | 更新时间：2023-08-14

- 4-CPS/UPU并联机构运动学分析与仿真
- Kinematics Analysis and Simulation of a 4-CPS/UPU Parallel Mechanism
- 机械传动 2023年47卷第7期页码：90-95
- 作者机构：
  
  1.山西工程职业学院机械工程系，山西太原 030009
  2.中北大学机械工程学院，山西太原 030051
- 作者简介：
  
  刘娟（1987— ），女，山西太原人，博士，讲师；研究方向为机器人机构及设计；lj_zbdx@163.com。
- 基金信息：
  
  山西省重点研发计划项目(201803D421028;201903D421051┫山西省高等学校科技创新项目┣2022L708)
- DOI：10.16578/j.issn.1004.2539.2023.07.013
  中图分类号：
- 纸质出版日期：2023-07-15，
  
  收稿日期：2023-02-02，
扫描看全文
刘娟,李瑞琴,王远等.4-CPS/UPU并联机构运动学分析与仿真[J].机械传动,2023,47(07):90-95.

Liu Juan,Li Ruiqin,Wang Yuan,et al.Kinematics Analysis and Simulation of a 4-CPS/UPU Parallel Mechanism[J].Journal of Mechanical Transmission,2023,47(07):90-95.
刘娟,李瑞琴,王远等.4-CPS/UPU并联机构运动学分析与仿真[J].机械传动,2023,47(07):90-95. DOI： 10.16578/j.issn.1004.2539.2023.07.013.

Liu Juan,Li Ruiqin,Wang Yuan,et al.Kinematics Analysis and Simulation of a 4-CPS/UPU Parallel Mechanism[J].Journal of Mechanical Transmission,2023,47(07):90-95. DOI： 10.16578/j.issn.1004.2539.2023.07.013.

摘要

提出了一种用于并联机床领域的4-CPS/UPU并联机构。基于旋量理论，建立了该并联机构的运动和约束螺旋系，该机构具有5个自由度，可实现三移两转功能；通过修正的K-G公式对其自由度进行了验证；进一步分析了并联机构的位置正逆解、工作空间；运用Adams软件对其进行了仿真分析。该机构工作空间连续，形状近似四棱台，规则对称，无空洞，且仿真得到的位移和速度曲线光滑，表明该机构具有良好的运动性能。研究结果为其在并联机床领域的参数化设计提供了一定的理论基础。

Abstract

A 4-CPS/UPU parallel mechanism used in the field of parallel machine tools is proposed. Based on the screw theory

the kinematic and constrained screw system of the parallel mechanism is established. The mechanism has five degrees of freedom and can realize the function of three shifts and two rotations. The degree of freedom is verified by the modified K-G formula. The forward and inverse solutions of the parallel mechanism and the working space are analyzed. The simulation analysis is carried out by Adams software. The workspace of the mechanism is continuous without cavity

and its shape is similar to that of a pyramid

which is regular and symmetrical; the smooth displacement and velocity curves obtained by simulation show that the mechanism has good kinematic performance

which provides a certain theoretical basis for its parametric design in the field of parallel machine tools.

关键词

4-CPS/UPU并联机构自由度位置逆解位置正解工作空间Adams软件

Keywords

4-CPS/UPU parallel mechanismDegree of freedomPosition inverse solutionPositive position solutionWorkspaceAdams software

references

叶鹏达，尤晶晶，仇鑫，等.并联机器人运动性能的研究现状及发展趋势［J］.南京航空航天大学学报，2020，52（3）：363-377.

YE Pengda，YOU Jingjing，QIU Xin，et al.Status and development trend of motion performance in parallel robot［J］.Journal of Nanjing University of Aeronautics & Astronautics，2020，52（3）：363-377.

CHENG Y M.Machining with a precision five-axis machine tools created by combining a horizontal parallel three-axis motion platform and a three-axis machine tools［J］.Materials，2022，15（6）：1-20.

黄俊杰，王鹏霏，张博文，等.3-PRS并联机构冗余设计与工作空间分析［J］.机械传动，2022，46（5）：25-34.

HUANG Junjie，WANG Pengfei，ZHANG Bowen，et al.Redundancy design and workspace analysis of 3-PRS parallel mechanism［J］.Journal of Mechanical Transmission，2022，46（5）：25-34.

郭强，崔国华，张帆，等.5自由度4-SPRR-SPR并联机构的运动学与工作空间分析［J］.机械传动，2019，43（12）：97-102.

GUO Qiang，CUI Guohua，ZHANG Fan，et al.Kinematics and workspace analysis of 4-SPRR-SPR 5-DOF parallel mechanism［J］.Journal of Mechanical Transmission，2019，43（12）：97-102.

黄道阳，薄瑞峰，张旺旺，等.（2PSR+PUU）&RP混联机床的位置及其工作空间分析［J］.制造技术与机床，2022（3）：92-97.

HUANG Daoyang，BO Ruifeng，ZHANG Wangwang，et al.The position and workspace analysis of （2PSR+PUU）&RP hybrid machine tool［J］.Manufacturing Technology & Machine Tool，2022（3）：92-97.

王汝贵，张航菲，许润昊.一种新型全自由度可重构并联机床的尺度综合［J］.机械设计与研究，2021，37（1）：60-65.

WANG Rugui，ZHANG Hangfei，XU Runhao.Dimensional synthesis of a novel 6-DOF reconfigurable parallel machine tool［J］.Machine Design & Research，2021，37（1）：60-65.

叶勇.4SPS+UPU并联机床法向加工自由曲面的研究与仿真［J］.机械传动，2011，35（11）：26-29.

YE Yong.Study and simulation on three-dimensional free-form surface normal machining by 4SPS+UPU parallel machine tool［J］.Journal of Mechanical Transmission，2011，35（11）：26-29.

熊万涛，李开明.3-（2SPS）并联机床设计及刚度分析［J］.机械传动，2019，43（3）：90-94.

XIONG Wantao，LI Kaiming.Design and stiffness analysis of 3-（2SPS） parallel machine tool［J］.Journal of Mechanical Transmission，2019，43（3）：90-94.

方喜峰，赵若愚，吴洪涛，等.6-UPS交叉杆型并联机床的运动学正解算法［J］.机械工程学报，2012，48（13）：56-60.

FANG Xifeng，ZHAO Ruoyu，WU Hongtao，et al.Forward kinematics analysis of 6-UPS parallel machine tool with cross rod［J］.Journal of Mechanical Engineering，2012，48（13）：56-60.

王书森，梅瑛，李瑞琴.新型3T2R龙门式混联机床动力学模型［J］.机械工程学报，2016，52（15）：81-90.

WANG Shusen，MEI Ying，LI Ruiqin.Solving dynamics for a novel 3T2R gantry hybrid machine tool［J］.Journal of Mechanical Engineering，2016，52（15）：81-90.

LI R Q，LIANG S J，ZHANG M R，et al.Kinematics and workspace of a spherical engraving machine with the RPR/RRPR parallel configuration［C］//IFToMM World Congress on Mechanism and Machine Science.Springer，Cham，2019：2369-2377.

LUO X，XIE F，LIU X J，et al.Error modeling and sensitivity analysis of a novel 5-degree-of-freedom parallel kinematic machine tool［J］.Proceedings of the Institution of Mechanical Engineers，Part B：Journal of Engineering Manufacture，2019，233（6）：1637-1652.

HU Y，LI B.Robust design and analysis of 4PUS-1RPU parallel mechanism for a 5-degree-of-freedom hybrid kinematics machine［J］.Proceedings of the Institution of Mechanical Engineers，Part B：Journal of Engineering Manufacture，2011，225（5）：685-698.

KANAAN D，WENGER P，CHABLAT D.Kinematic analysis of a serial-parallel machine tool：the VERNE machine［J］.Mechanism and Machine Theory，2009，44（2）：487-498.

XIE F，LIU X J，ZHOU Y.Optimization of a redundantly actuated parallel kinematic mechanism for a 5-degree-of-freedom hybrid machine tool［J］.Proceedings of the Institution of Mechanical Engineers，Part B：Journal of Engineering Manufacture，2014，228（12）：1630-1641.

CAI Y，ZHANG B，YAO Y.Study on the dynamic coupling characteristics of 3PTT-2R numerical control serial-parallel machine based on singular constraints and position coupling factors［J］.Proceedings of the Institution of Mechanical Engineers，Part B：Journal of Engineering Manufacture，2017，231（9）：1628-1645.

GUO J，WANG D，FAN R，et al.Design and workspace analysis of a 3-degree-of-freedom parallel swivel head with large tilting capacity［J］.Proceedings of the Institution of Mechanical Engineers，Part B：Journal of Engineering Manufacture，2017，231（10）：1838-1849.

NI Y B，JIA S L，ZHANG Z W，et al.A manufacturing-oriented error modelling method for a hybrid machine tool based on the 3-PRS parallel spindle head［J］.Advances in Mechanical Engineering，2019，11（5）：1-13.

浏览量

下载量

CSCD

文章被引用时，请邮件提醒。

提交

工具集

关联资源

3-SPS/UPR并联工作台运动学分析

(2-PUR/UPS) &R混联式颈椎外骨骼的设计及运动性能分析

3-PRS并联机器人概念设计与运动特性研究

仿乌贼水下采样机械手建模与仿真

一种6自由度机械臂的结构设计和运动学分析