CAJ | 학술논문

提出一种新型3自由度并联机构来解决LED分选机的高速分选问题。首先研究了该机构自由度，该机构能提供3个方向上的纯转动；再结合自由度性质分析，建立了约束方程，进行运动学的正反解分析；使用Newton迭代的方法求得各位置点具体的运动参数，并分析了求解过程中的多解问题，及相关处理方法，最后给出相应的算例。通过实例分析数据可知：随着执行机构目标位置的变化，能实时求解出个各曲柄相对于基座的转角，且当2个曲柄转角增大时，第3个曲柄转角一定减小，符合实际的运动规律。
제출일충신형3자유도병련궤구래해결LED분선궤적고속분선문제。수선연구료해궤구자유도，해궤구능제공3개방향상적순전동；재결합자유도성질분석，건립료약속방정，진행운동학적정반해분석；사용Newton질대적방법구득각위치점구체적운동삼수，병분석료구해과정중적다해문제，급상관처리방법，최후급출상응적산례。통과실례분석수거가지：수착집행궤구목표위치적변화，능실시구해출개각곡병상대우기좌적전각，차당2개곡병전각증대시，제3개곡병전각일정감소，부합실제적운동규률。
A new 3-DOF(degrees of freedom)parallel mechanism is proposed in this paper to solve the sorting problem of LED high-speed sorter. DOF of the parallel mechanism is studied first in this paper. The parallel mechanism can provide pure ro-tation in three directions. In combination with DOF properties analysis,a constraint equation is established to analyze the kine-matics pros and cons solutions. The Newton iteration method is used to solve the motion parameters at each location point,and analyze the problem of multiple solutions and the related treatment methods in the actual motion control. The corresponding nu-merical examples are offered. The example analysis data shows that,with the change of executive body target position,the each crank turning angle relative to the base can be calculated,and when the turning angles of two cranks increase,the turning an-gle of the third crank must decreases. It is in line with the actual motion law.