变驱动布局5R机构选型设计与实验

提出了变驱动布局的平面5R机构的选型设计方法,对其进行运动学分析,利用几何法建立了不同驱动位置的工作空间图谱,并提出了跟踪运动轨迹搜索可达工作空间的方法,为纸箱定制封装机构的构型应用提供了优选依据。通过分析纸箱摇盖折合的工艺流程,选择两个驱动电机轴线重合的5R机构,作为摇盖折合的手指机构原型。通过运动仿真提取了驱动电机的运动参数,将拟合的解析函数输入手指机构的控制程序中,经实验验证,实现了纸箱摇盖折合的预期运动轨迹,表明该手指机构运动具有良好的可控性。在此基础上,设计了一种区别于生产线作业的可重构纸箱包装机,通过装置模块结构的重组和控制程序重构,末端执行器的运动输出柔性可控,完成了不同尺寸规格纸箱的包装、胶带十字封装工作。

Lectotype Design and Experiment of Variable Actuated Layout 5R Parallel Kinematic Mechanism

Considering the packaging requirements of different sizes of customized cartons, the design method of variable actuated layout for 5R parallel kinematic mechanism was proposed. The kinematic analysis of 5R parallel mechanism was carried out, and different workspace maps were drawn by geometric method. A method of searching the reachable workspace through tracing the motion trajectory was proposed. These provided the basis for configuration application of the carton packaging mechanism. The folding process of carton cover was analyzed, and the 5R mechanism of the two actuated motors with coincident joint was selected as finger prototype to fold the flap. The motion parameters of actuated motors were extracted through the motion simulation, the fitted analytic function was input into the control program of finger mechanism. The experimental results verified that the expected motion trajectory of carton flap and finger mechanism had good controllability. Thus a reconfigurable carton packaging machine was developed to demonstrate the ability to erect different sizes of the cartons, which was different from the production line. By means of restructuring module structure and reconfiguration control program, the end effector was flexibility and controllable. The device had the characteristics of small space occupation and flexible control. It would be helpful for the delivery staff to improve the working efficiency and reduce the workload.