In the traditional food production industry of China, manual sorting is the main method with low automation and a large amount of labor is needed. The paper aims to design a 3-CUR parallel robot for fast sorting in food production. The number and type of the freedom degree of the mechanism were analyzed with the screw theory, and the freedom degree of the mechanism was verified by the modified Grubler-Kutzbach formula. Then the inverse position solution of the mechanism was solved by D-H kinematic chain parameter representation and Euler angle representation; and the workspace of the parallel sorting robot was analyzed and simulated with the three-dimensional dynamic method and the Matlab software. Finally, the motion performance of the robot was simulated with the ADAMS software. The mechanism can realize the movement of one level (along z axis) and two revolutions (around x axis and y axis). It had large workspace and can reach a wide range without singularities. The motion curves of the end-effector parameters changed regularly and periodically, which could satisfy the motion and working range of the sorting robot. The mechanism has excellent motion performance, good stability and good workspace. It can realize high-speed automatic scanning and sorting in food production. It has potential application value in packaging automation.
针对中国传统食品行业中手工分拣自动化程度低、劳动力需求大的问题，本文设计了一种3-CUR并联分拣机器人，用于食品生产的快速分拣。通过螺杆理论分析机构的自由度，并利用改进的Grubler-Kutzbach公式验证其自由度。然后使用D-H动力学链参数表示和欧拉角表示求解机构的逆位置解，并采用三维动力学方法和Matlab软件进行机器人工作空间的分析和仿真。最后，通过ADAMS软件对机器人的运动性能进行仿真。该机构能够实现沿z轴的一级平移和绕x轴、y轴的两轴旋转，具有大工作空间且无奇异点。末端执行器参数的运动曲线变化规律且周期性，满足分拣机器人的运动和工作范围需求。机构具有优秀的运动性能、良好的稳定性及优良的工作空间，能在食品生产中实现高速自动扫描和分拣，具有潜在的包装自动化应用价值。
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