【摘要】 针对白酒酒盒底座清废、压毛边工序自动化程度低的问题，提出一种双模式并联机构，可分别实现清废和压毛边两道工序。基于螺旋理论分析机构在不同模式下的自由度性质;采用闭环矢量法求得机构逆解，采用数值法求得机构的工作空间;求解速度雅可比矩阵，并基于雅可比矩阵分析机构的速度、刚度性能指标。性能分析表明，双模式并联机构可满足酒盒底座清废、压毛边工序需求，提高酒盒底座生产线的自动化水平。更多还原

【Abstract】 To address the low automation level in the waste-clearing and burr-pressing operations for wine box base,a dual-mode parallel robot capable of executing both tasks is proposed. The freedom characteristics of the mechanism under each operational mode are analyzed via screw theory. The inverse kinematics are derived using closed-loop vector method,and the workspace is solved in numerical method. The velocity Jacobian matrix is established and subsequently employed to evaluate the velocity and stiffness performance indices. Application examples demonstrate that the dual-mode parallel mechanism can satisfy the operational requirements for waste-clearing and burr-pressing on wine box base,and improve the automation level of wine box base production line.更多还原