目的 针对包装生产线中喷码装箱工序对运动自由度的差异化需求,提出一种基于可变轴线运动副（vA副）的喷码装箱可重构机器人。方法 基于螺旋理论,分析机构处于2种模式下的自由度性质,利用闭环矢量法求解机构运动学反解,采用粒子群优化算法对机构正解进行求解,并对雅可比矩阵进行分析,以评估运动状态;分析机构在2种模式下末端执行器的可达工作空间,并对灵巧度进行分析。结果 机构在2-RPS/UPU/UPS模式下具有2R1T自由度,在2-UPS/RPS/UPU模式下具有2R2T自由度,工作空间连续。结论 机构在2-RPS/UPU/UPS模式下可用于产品喷码作业,在2-UPS/RPS/UPU模式下可用于产品装箱作业,提高了产品的生产效率。
Abstract
The work aims to propose a reconfigurable robot for coding and packing based on variable axis motion pair (vA pair), in view of the differentiated requirements of the degree of freedom of motion in the coding and packing processes of the packaging production line. The screw theory was employed to analyze the DOF characteristics of the mechanism under two operational modes. The closed-loop vector method was utilized to derive the inverse kinematics solutions for both modes, while the particle swarm optimization (PSO) algorithm was adopted to solve the forward kinematics. The Jacobian matrix was analyzed to evaluate the kinematic performance. The reachable workspace of the end-effector under both modes was investigated, and the dexterity was assessed through local conditioning indices. The results demonstrated that the mechanism achieved 2 rotations and 1 translation DOF (2R1T) in 2-RPS/UPU/UPS mode and 2 rotations and 2 translations DOF (2R2T) in 2-UPS/RPS/UPU mode, with a continuous and void-free workspace. In conclusion, in 2-RPS/UPU/UPS mode, the mechanism is suitable for product coding operations, while 2-UPS/RPS/UPU mode enables efficient packing tasks. This design significantly enhances production efficiency.
关键词
可重构并联机构 /
位置正逆解 /
工作空间 /
灵巧度 /
喷码 /
装箱
Key words
reconfigurable parallel mechanism /
position forward and inverse solutions /
workspace /
dexterity /
inkjet coding /
case packing
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基金
山西省重点研发计划（202202150401018）
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