The research of kinematic performances of 3-UPU-UPU parallel mechanism for automobile assembly line

2015 IEEE International Conference on Mechatronics and Automation (ICMA) Pub Date : 2015-09-03 DOI:10.1109/ICMA.2015.7237882

G. Cui, M. Sun, Weijian Meng, Haiqiang Zhang, Chuanrong Sun

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引用次数: 5

Abstract

According to the requirement of body-in-white (BIW) positioning and conveying between different processing stations in the flexible assembly line, a four support positioning body-in-white flexible conveyor system based on the 3-UPU-UPU parallel mechanism was proposed. The inverse equation of the parallel mechanism and velocity Jacobin matrix was solved on the basis of the kinematics of 3-UPU-UPU parallel mechanism. Simultaneously, feasible points was derived. Then the model of the global dexterity and global maximum bearing capacity was built. The workspace feasible points, global dexterity as well as the global maximum bearing capacity were selected as the performance indices. The mechanism was optimized by using the weighted sum method. Taking the optimized size parameters of the mechanism for example, this paper analysed the workspace, dexterity and bearing capacity of the mechanism. The results prove that the 3-UPU-UPU parallel mechanism has good kinematic performances, it can be used as the positioning support body of different models body-in-white to complete body-in-white positioning and conveying between different processing stations, and has important research significance and application promotion value.

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汽车装配线3-UPU-UPU并联机构运动性能研究

针对柔性装配线不同工位间白车身定位与输送的要求，提出了一种基于3-UPU-UPU并联机构的四支撑定位白车身柔性输送系统。在3-UPU-UPU并联机构运动学的基础上，求解了并联机构的反方程和速度雅可比矩阵。同时，导出可行点。然后建立了全局灵巧度和全局最大承载力模型。选取工作空间可行点、全局灵巧度和全局最大承载能力作为性能指标。采用加权和法对机构进行优化。以优化后的机构尺寸参数为例，分析了机构的工作空间、灵巧性和承载能力。结果表明，3-UPU-UPU并联机构具有良好的运动性能，可作为不同型号白车身的定位支撑体，完成白车身在不同加工工位之间的定位和输送，具有重要的研究意义和应用推广价值。

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来源期刊

2015 IEEE International Conference on Mechatronics and Automation (ICMA)

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