目的 为了提升包装生产线印刷和装箱工序的稳定性及控制精度,对应用于包装线的2R1T并联机构的动力学建模及性能展开分析。方法 首先以空间2PRU-PRRPa并联机构为研究对象,采用封闭矢量法求解该机构的逆运动学方程,以及输入参数与输出参数之间的映射关系。其次,基于拉格朗日法,建立该机构的动力学方程,定义关节映射惯性指标和关节空间惯性变化系数指标,以及驱动功率接近系数和能量传递效率性能评价指标,并对机构进行动力学性能分析。最后,采用Simulink和Adams进行动力学联合实例仿真试验,通过算例求解机构的动力学性能评价指标分布。结果 并联机构在沿轴向方向旋转固定姿态角时,其截面的中心附近区域内具有良好的惯性特性和加速性能;其驱动功率接近系数λzp在理论范围内,能量传递效率ϕE在[0.19, 0.31]范围内,其大小与动平台末端的位置有关。结论 系统分析了并联机构动力学性能及其末端位置之间的影响规律,为实现不同包装线工序运动轨迹规划、设定对应的任务工作空间,以及实现包装线工序的稳定及精准控制提供了理论参考。
Abstract
In order to enhance the stability and control precision of the printing and carton-packing processes in packaging production lines, the work aims to conduct dynamic modeling and performance analysis of a 2R1T parallel mechanism applied to packaging lines. Firstly, with the spatial 2PRU-PRRPa parallel mechanism as the research object, the closed-loop vector method was employed to solve the inverse kinematics equations and the mapping relationships between input and output parameters. Secondly, the dynamic equations of the mechanism were established with the Lagrange method to define joint-mapped inertia index, joint-space inertia variation coefficient, driving power proximity coefficient, and energy transfer efficiency and analyze the dynamic performance of the mechanism. Finally, a co-simulation study combining Simulink and Adams was conducted, and the dynamic performance evaluation indexes were derived through numerical examples. When the parallel mechanism rotated at a fixed orientation angle along the axial direction, the central region of its cross-section exhibited favorable inertia characteristics and acceleration performance. The driving power proximity coefficient λzp fell within the theoretical range, while the energy transfer efficiency ϕE ranged between [0.19, 0.31], varying with the position of the moving platform's end-effector. This study systematically analyzes the effect of the dynamic performance of the parallel mechanism on the position of its end-effector. This provides theoretical reference for planning the motion trajectory of different packaging line processes, setting corresponding task workspaces, and achieving stable and precise control of packaging line processes.
关键词
并联机构 /
动力学 /
驱动功率 /
拉格朗日法 /
性能评价
Key words
parallel mechanism /
dynamics /
driving power /
Lagrange method /
performance evaluation
{{custom_sec.title}}
{{custom_sec.title}}
{{custom_sec.content}}
参考文献
[1] 郝亮亮, 刘小娟, 杜婷, 等. 基于两种建模方法的冗余并联机器人的动力学对比研究[J]. 制造技术与机床, 2022(11): 33-39.
HAO L L, LIU X J, DU T, et al.Comparative Study on Dynamics of Redundant Parallel Robot Based on Two Modeling Methods[J]. Manufacturing Technology & Machine Tool, 2022(11): 33-39.
[2] 马振东, 马春生, 米文博, 等. 基于2-RPS/UPRS并联机构的自动分拣机运动分析[J]. 包装工程, 2021, 42(1): 157-162.
MA Z D, MA C S, MI W B, et al.Kinematics Analysis of Automatic Sorter Based on 2-RPS/UPRS Parallel Mechanism[J]. Packaging Engineering, 2021, 42(1): 157-162.
[3] 陆彩满, 刘艳梨, 古亮, 等. 新型3PUPaR并联机构运动学分析与多目标优化[J]. 包装工程, 2020, 41(23): 179-186.
LU C M, LIU Y L, GU L, et al.Kinematic Analysis and Multi-Objective Optimization of New 3PUPaR Parallel Mechanism[J]. Packaging Engineering, 2020, 41(23): 179-186.
[4] 何其臻, 张海峰, 陈巧红, 等. 3-[P(RR-RRR)SR]运动学冗余并联机构动力学分析[J]. 机械传动, 2025, 49(3): 24-32.
HE Q Z, ZHANG H F, CHEN Q H, et al.Dynamics Analysis of the 3-[P(RR-RRR)SR] Kinematically Redundant Parallel Mechanism[J]. Journal of Mechanical Transmission, 2025, 49(3): 24-32.
[5] 张宇轩, 汪满新, 王明昊, 等. 3-RRS并联机构动力学建模与性能分析[J]. 机械工程学报, 2025, 61(7): 315-324.
ZHANG Y X, WANG M X, WANG M H, et al.Dynamic Modeling and Performance Analysis of a 3-RRS Parallel Mechanism[J]. Journal of Mechanical Engineering , 2025, 61(7): 315-324.
[6] 谢志江, 余欣, 胡知诿, 等. 3-PSR并联机构运动学和动力学分析[J]. 机床与液压, 2021, 49(5): 9-13.
XIE Z J, YU X, HU Z W, et al.Kinematics and Dynamic Analysis of a 3-PSR Parallel Mechanism[J]. Machine Tool & Hydraulics, 2021, 49(5): 9-13.
[7] 董旭, 高铁红. 三自由度并联包装机构静动态特性建模与分析[J]. 食品与机械, 2021, 37(8): 119-125.
DONG X, GAO T H.Modeling and Analysis of Static and Dynamic Characteristics of Three Degrees of Freedom Parallel Packaging Mechanism[J]. Food & Machinery, 2021, 37(8): 119-125.
[8] 马慧欣, 许添旗, 叶凡, 等. 2PRU-PRUPc并联机构的动力学分析[J]. 机械设计与研究, 2024, 40(4): 7-11.
MA H X, XU T Q, YE F, et al.Dynamic Analysis of 2PRU-PRUPc Parallel Mechanism[J]. Machine Design & Research, 2024, 40(4): 7-11.
[9] 代慧, 朱洪雷. 基于包装生产线的3-PUU并联机器人的动力学研究[J]. 包装工程, 2021, 42(13): 257-261.
DAI H, ZHU H L.Dynamics Study of 3-PUU Parallel Robot Based on Packaging Production Line[J]. Packaging Engineering, 2021, 42(13): 257-261.
[10] 崔冰艳, 桂小庚, 曾鸿泰, 等. 三自由度并联分拣机器人的动力学建模与仿真[J]. 包装工程, 2024, 45(3): 218-225.
CUI B Y, GUI X G, ZENG H T, et al.Dynamic Modeling and Simulation of a 3-DOF Parallel Sorting Robot[J]. Packaging Engineering, 2024, 45(3): 218-225.
[11] 董旭, 高铁红. 三自由度并联包装机构动力学建模与分析[J]. 包装工程, 2020, 41(15): 81-87.
DONG X, GAO T H.Dynamic Modeling and Analysis of 3-DOF Parallel Packaging Mechanism[J]. Packaging Engineering, 2020, 41(15): 81-87.
[12] 刘宏飞, 张金柱, 熊晓燕, 等. 一种新型5自由度并联驱动机构动力学性能分析[J]. 机械设计, 2025, 42(6): 114-121.
LIU H F, ZHANG J Z, XIONG X Y, et al.Analysis on Dynamic Performance of New 5-DOF Parallel Driving Mechanism[J]. Journal of Machine Design, 2025, 42(6): 114-121.
[13] 梁栋, 张珺鹏, 姚福林, 等. 高速大承载Schönflies并联机构动力学建模、性能分析及控制策略[J]. 机械工程学报, 2024, 60(23): 114-129.
LIANG D, ZHANG J P, YAO F L, et al.Dynamic Modeling, Performance Analysis and Control Strategy for a Schönflies Parallel Mechanism with High-Speed and Large-Load Capacity[J]. Journal of Mechanical Engineering, 2024, 60(23): 114-129.
[14] 李菊, 肖思进, 沈惠平, 等. 两支链三平移并联机构动力学分析与性能优化[J]. 农业机械学报, 2022, 53(10): 412-422.
LI J, XIAO S J, SHEN H P, et al.Dynamics Analysis and Performance Optimization of Two-Chain and Three-Translation Parallel Mechanism[J]. Transactions of the Chinese Society for Agricultural Machinery, 2022, 53(10): 412-422.
[15] 王潇剑, 吴军, 岳义, 等. 2UPU/SP 3自由度并联机构的动力学性能评价[J]. 清华大学学报(自然科学版), 2019, 59(10): 838-846.
WANG X J, WU J, YUE Y, et al.Dynamic Performance Evaluation of a 2UPU/SP Three-DOF Parallel Mechanism[J]. Journal of Tsinghua University (Science and Technology), 2019, 59(10): 838-846.
[16] 张伟中, 冯邵江, 袁鑫宏, 等. 2-PRU-PRRPa并联机构运动学分析与性能优化[J]. 农业机械学报, 2025, 56(1): 497-506.
ZHANG W Z, FENG S J, YUAN X H, et al.Kinematic Analysis and Optimization Design of 2-PRU-PRRPa Parallel Mechanism[J]. Transactions of the Chinese Society for Agricultural Machinery, 2025, 56(1): 497-506.
基金
江苏省高等学校自然科学研究项目（17KJB460011）
PDF(2728 KB)
渝公网安备 50010702501716号 渝ICP备15012534号-2
