【摘要】 针对当前城市中存在大量危险复杂的地下涵洞使得人类不宜进入或无法进入，开发具有多地形适应特性的移动机器人，实现涵洞内物资搬运与设备巡检等任务意义重大。提出了一种2-PRU/UPR并联机构。通过SolidWorks软件构建2-PRU/UPR机构的三维模型；基于螺旋理论的约束力偶分析法解算2-PRU/UPR机构的自由度特性，联合修正的G-K公式完成理论验证；采用闭合矢量运动链方程求解机构的运动学逆解，利用MATLAB点云算法生成机构工作空间的三维点云图；在Adams软件中开展虚拟样机仿真分析。结果表明：2-PRU/UPR机构具备沿Z轴方向的平动自由度与绕X、Y轴方向的转动自由度，共3个自由度，其工作空间呈现中心对称分布且覆盖范围广，运动平稳性良好。2-PRU/UPR机构结构简单、快捷、工作空间大，可以代替人工完成地下涵洞搬运、巡检等工作，极大地提升了工作效率。更多还原

【Abstract】 Aiming at the existence of a large number of dangerous and complex underground culverts in the city, which make it inappropriate or impossible for human beings to enter, it is of great significance to develop mobile robots with multi-terrain adaptive characteristics to realize the tasks of material handling and equipment inspection in the culverts. 2-PRU/UPR parallel mechanism was proposed. The 3D model of the 2-PRU/UPR mechanism was constructed by SolidWorks software. The degree-of-freedom characteristics of the 2-PRU/UPR mechanism were solved based on the constraint force coupling analysis of helix theory, and the theoretical validation was completed by the joint modified G-K formula. The kinematic inverse of the mechanism was solved by the closed-vector chain-of-motion equations, and the 3D point cloud map was generated by the point cloud algorithm in MATLAB to generate the workspace of the mechanism. The 3D point cloud map was generated by the Adams software, and the 3D point cloud map was generated by the Adams software. The virtual prototype simulation was carried out in Adams software. The results show that the 2-PRU/UPR mechanism has three degrees of freedom, including translational degrees of freedom along the Z-axis and rotational degrees of freedom around the X-axis and Y-axis, and its workspace has a centrosymmetric distribution and a wide range of coverage, with a good smoothness of motion. 2-PRU/UPR mechanism has a simple structure, is fast, and has a large workspace, which can be used instead of manual labor to complete the handling of underground culverts, inspection and other work, and greatly improves the work efficiency.更多还原