Configuration Design and Working Performance Analysis of 2-CPR/RPU Parallel Mechanism
Aiming at the problems of many types of goods and high labor consumption in the current logistics field,in order to meet the needs of rapid sorting of production lines,a 2-CPR/RPU parallel mechanism with full-cycle freedom was proposed to improve the sorting efficiency of logistics goods and reduce the labor time cost.The three-dimensional model of 2-CPR/RPU mechanism was drawn,and the degree of freedom of 2-CPR/RPU mechanism was solved by screw theory.According to the modified Grübler-Kutzbach formula,the position inverse solution of the branch chain of the mechanism was analyzed by closed vector.Based on the inverse solution expression,the velocity Jacobian matrix of the mechanism was obtained.The algebraic method was used to analyze whether the singular configuration exists.The MATLAB language was programmed to solve the points that meet the working range and draw the working space.Finally,the finite element simulation analysis of the bearing weight of the mechanism was carried out.The results show that the 2-CPR/RPU parallel mechanism has a total of three degrees of freedom,which can realize 2T1R type motion(translation along the x,z axis and rotation around the x axis).The structure size meets the requirements without singular configuration,the working space is large,evenly distributed and fan-shaped symmetry,and the rotation of the execution platform can reach 60°.The 2-CPR/RPU parallel mechanism has simple structure,stable motion,high working accuracy and good load performance,which is suitable for sorting and packing in most logistics packaging production lines.
2-CPR/RPUposition inverse solutionsingularityworking space
万方数据
维普
