王新宇,李虹,李亚丽,马春生,李瑞琴.基于2-PSR/UPU并联机构的旋盖装置设计及性能分析[J].包装工程,2020,41(3):188-193.
WANG Xin-yu,LI Hong,LI Ya-li,MA Chun-sheng,LI Rui-qin.Design and Performance Analysis of a Novel Capping Device Based on 2-PSR/UPU Parallel Mechanism[J].Packaging Engineering,2020,41(3):188-193. |
| 基于2-PSR/UPU并联机构的旋盖装置设计及性能分析 |
| Design and Performance Analysis of a Novel Capping Device Based on 2-PSR/UPU Parallel Mechanism |
| 投稿时间：2019-07-08 修订日期：2020-02-10 |
| DOI：10.19554/j.cnki.1001-3563.2020.03.029 |
| 中文关键词: 2-PSR/UPU并联机构 自由度 位置反解 工作空间 旋盖装置 |
| 英文关键词: parallel mechanism of 2-PSR/UPU degree of freedom reverse position solution workspace capping device |
| 基金项目:山西省自然科学基金（201801D121183） |
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| 中文摘要: |
| 目的 针对生产线上的旋盖工序，提出一种基于2-PSR/UPU并联机构的旋盖装置，解决生产线上不同倾角斜面上的旋盖问题。方法 建立2-PSR/UPU并联机构模型；根据定杆长约束条件求解机构的位置反解，并通过相应的运动算例验证其反解位姿，通过对多个反解位姿进行对比，从中得出有效解；利用三维坐标搜索法求解工作空间。结果 该并联机构动平台下方10 mm参考点工作空间连续且没有出现空洞，能适应0~35°范围斜面上的旋盖问题，给出了该并联机构在25°，30°，35°斜面情况下旋盖的实例。结论 基于2-PSR/UPU并联机构的旋盖装置结构简单，机构具有可调性，可以在生产线上实现精准控制。该并联机构一移两转的特性能适应不同倾斜角斜面的旋盖任务。 |
| 英文摘要: |
| The paper aims to propose a capping device based on the 2-PSR/UPU parallel mechanism to solve the capping process on the production line today, to solve the problem of the capping on the inclined surface of different inclination angles on the production line. The 2-PSR/UPU parallel mechanism model was established. The reverse position solution of the mechanism was solved according to the fixed length constraint condition, and the reverse position solution pose was verified by the corresponding motion example. By comparing the multiple reverse postures, the effective solution was solved; the workspace was solved by the three-dimensional coordinate search method. The workspace of the 10mm reference point below the moving platform of the parallel mechanism was continuous and free from voids, and could adapt to the screwing problem on the inclined surface of the 0-35° range, and the parallel mechanism was provided with an example of a capping in the case of 25°, 30°, and 35°. The capping device based on the 2-PSR/UPU parallel mechanism has a simple structure and adjustable mechanism, and can achieve precise control on the production line. The special function of 1-translation and 2-rotation of the parallel mechanism is adapted to the capping task of the inclined surface with different inclination angles. |
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