Workspace Analysis of a Parallel Mechanism Based on Dual-mode Pa/U Kinematic Pair and Its Application in Material Diversion

LIN Di; LI Ruiqin; HU Weiwei; AN Yanxia

doi:10.19554/j.cnki.1001-3563.2026.01.016

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Packaging Engineering ›› 2026, Vol. 47 ›› Issue (1) : 143-152. DOI: 10.19554/j.cnki.1001-3563.2026.01.016

Workspace Analysis of a Parallel Mechanism Based on Dual-mode Pa/U Kinematic Pair and Its Application in Material Diversion

LIN Di¹, LI Ruiqin², HU Weiwei², AN Yanxia¹

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Abstract

The work aims to present a dual-mode 2-RPU+(Pa/U)PS parallel mechanism used for the diversion and sorting of materials on the main and branch lines at different heights and orientations on the workshop assembly line, targeting the diverse types and complex assembly processes of high-end wine boxes, high-end gift boxes, and other products. The variant Pa pair in the branch chain (Pa/U) PS of a parallel mechanism achieved the transition between Pa pair and Hooke hinge modes through the sliding nesting of sliders. By using the branch decomposition synthesis method, the degrees of freedom of the parallel mechanism were calculated based on the spiral theory to determine its achievable spatial pose function. The workspace analysis was performed on the mechanism based on inverse kinematics of the mechanism. The proposed dual-mode 2-RPU+(Pa/U) PS parallel mechanism had 4 and 5 degrees of freedom in two modes, respectively. The example showed that the parallel mechanism could meet the material classification of the main and branch lines on the workshop assembly line with a height difference of 400 mm and an offset of 800 mm in the conveying direction. The two modes of the dual-mode 2-RPU+(Pa/U) PS parallel mechanism can be switched according to demands. Mode I can meet the requirements of finished product sorting and boxing at the end of the assembly line, while Mode Ⅱ can adapt to the material diversion needs on the main and branch lines at different heights and orientations, greatly reducing labor costs and effectively improving the efficiency of material diversion and sorting.

Key words

parallel mechanism / dual-mode Pa/U kinematic pair / inverse kinematics / workspace / material diversion

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LIN Di, LI Ruiqin, HU Weiwei, AN Yanxia. Workspace Analysis of a Parallel Mechanism Based on Dual-mode Pa/U Kinematic Pair and Its Application in Material Diversion[J]. Packaging Engineering. 2026, 47(1): 143-152 https://doi.org/10.19554/j.cnki.1001-3563.2026.01.016

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