CAJ | 학술논문

为解决传统物料振动分拣平台无法实现多维振动的问题，提出了一种三自由度并联物料振动分拣平台，可满足物料振动分拣需要。该机构由共面的2条（P-R-U）支路及1条（P-R-C）支路组成，可实现动平台沿 x ，z轴的平移和绕x轴的转动。应用D-H矩阵对该并联机构进行运动学建模，通过运动学正、反解理论分析，建立机构输入、输出变量间运动学解析表达式。运用M atlab对位置正解进行计算，通过M ech/Pro接口软件将Pro/E中建立的模型导入ADAMS中进行运动仿真，并将计算结果与仿真结果进行分析和对比。两者结果相同，验证了结构分析及位置求解的正确性。
위해결전통물료진동분간평태무법실현다유진동적문제，제출료일충삼자유도병련물료진동분간평태，가만족물료진동분간수요。해궤구유공면적2조（P-R-U）지로급1조（P-R-C）지로조성，가실현동평태연 x ，z축적평이화요x축적전동。응용D-H구진대해병련궤구진행운동학건모，통과운동학정、반해이론분석，건립궤구수입、수출변량간운동학해석표체식。운용M atlab대위치정해진행계산，통과M ech/Pro접구연건장Pro/E중건립적모형도입ADAMS중진행운동방진，병장계산결과여방진결과진행분석화대비。량자결과상동，험증료결구분석급위치구해적정학성。
In order to solve the problem that traditional material vibration sorting platform cannot complete the multi-dimensional vibration ,a kind of 3-DOF parallel material vibration platform was designed to satisfy the requirement .It consists of two branches of (P-R-U) in the same plane and one branch of (P-R-C) .The moving platform can translate along x ,z axis and rotate on x axis . D-H matrix was applied to establish the kinematical model of the mechanism .The analytical ex-pression between input variables and output ones was established by the analysis of the positive and inverse solution of theoretical position .The positive solution of position was calculated by Matlab .The mechanism was modeled by Pro/E and was imported with Mech/Pro interface soft-ware into ADAMS for kinematics simulation .By analyzing and comparing the theoretical calcu-lated result and the simulated one ,the same outcome confirms the correctness of the analysis of mechanism and the positional calculation .