位姿解耦型五維混聯(lián)隔振平臺(tái)振動(dòng)建模方法的研究
發(fā)布時(shí)間：2018-01-01 15:03
本文關(guān)鍵詞：位姿解耦型五維混聯(lián)隔振平臺(tái)振動(dòng)建模方法的研究 出處：《哈爾濱工業(yè)大學(xué)》2015年碩士論文 論文類型：學(xué)位論文
更多相關(guān)文章： 多剛體系統(tǒng) 拓?fù)?/b> 振動(dòng)建模 模態(tài)分析
【摘要】：對(duì)于大部分機(jī)器和機(jī)構(gòu)來(lái)說(shuō),振動(dòng)帶來(lái)了很多負(fù)面影響。隔振技術(shù)的研究已成為當(dāng)代工程技術(shù)領(lǐng)域的重要課題之一,并具有重大意義。最近幾年,并聯(lián)機(jī)構(gòu)應(yīng)用于隔振平臺(tái)的設(shè)計(jì)成為了研究熱點(diǎn)。隨著隔振系統(tǒng)結(jié)構(gòu)變得越來(lái)越復(fù)雜,振動(dòng)模型的規(guī)模變得越來(lái)越大,隔振平臺(tái)振動(dòng)建模方法的研究成為了關(guān)鍵所在。將本文針對(duì)哈爾濱工業(yè)大學(xué)自主研制出位姿解耦型五維混聯(lián)隔振平臺(tái)進(jìn)行了多剛體系統(tǒng)振動(dòng)建模方法的研究,該建模方法和所得結(jié)論為隔振平臺(tái)的精確設(shè)計(jì)和隔振效果分析提過(guò)了所需的理論基礎(chǔ)。對(duì)該位姿解耦型五維混聯(lián)隔振平臺(tái)的基本運(yùn)動(dòng)鏈組成進(jìn)行分析,通過(guò)方位特征集的方法解析隔振平臺(tái)的自由度和解耦性。通過(guò)環(huán)路矢量法建立了隔振平臺(tái)的運(yùn)動(dòng)學(xué)逆解模型,推導(dǎo)出了其運(yùn)動(dòng)學(xué)逆雅克比矩陣�？紤]關(guān)節(jié)的柔性,利用旋轉(zhuǎn)矩陣將空間多自由度振動(dòng)系統(tǒng)轉(zhuǎn)變?yōu)閱畏较蚨嘧杂啥日駝?dòng)系統(tǒng),利用虛功原理建立了隔振平臺(tái)的振動(dòng)模型,對(duì)其進(jìn)行模態(tài)分析,采用ANSYS進(jìn)行了動(dòng)力學(xué)仿真與有限元分析,仿真結(jié)果與理論計(jì)算值相比較驗(yàn)證了該振動(dòng)建模方法的正確性,并在不同姿態(tài)下結(jié)果對(duì)比分析研究了該隔振平臺(tái)的振動(dòng)特性。在ADAMS環(huán)境內(nèi),對(duì)該五維混聯(lián)隔振平臺(tái)上、下兩層分別進(jìn)行機(jī)構(gòu)拓?fù)浣Y(jié)構(gòu)解析,并基于約束拓?fù)渥儞Q的方法對(duì)該隔振平臺(tái)進(jìn)行動(dòng)力學(xué)建模,研究該隔振平臺(tái)振動(dòng)特性,并與上一章理論計(jì)算結(jié)果相比較驗(yàn)證了該方法的可行性。
[Abstract]:For most machines and institutions, vibration has brought a lot of negative effects. The research of vibration isolation technology has become one of the important topics in the field of modern engineering technology, and has great significance in recent years. The application of parallel mechanism to the design of vibration isolation platform has become a research hotspot. As the structure of vibration isolation system becomes more and more complex, the scale of vibration model becomes larger and larger. The research of vibration modeling method of vibration isolation platform has become the key. In this paper, the vibration modeling method of multi-rigid body system is studied based on the self-developed position and attitude decoupling five-dimensional hybrid vibration isolation platform of Harbin University of Technology. The modeling method and the obtained conclusions provide a theoretical basis for the accurate design of the platform and the analysis of the vibration isolation effect. The basic motion chain composition of the five-dimensional hybrid vibration isolation platform with decoupling position and attitude is analyzed. The degree of freedom and decoupling of vibration isolation platform are analyzed by the method of azimuth characteristic set, and the inverse kinematics model of vibration isolation platform is established by loop vector method. The inverse Jacobian matrix of kinematics is derived. Considering the flexibility of the joint, the spatial multi-degree-of-freedom vibration system is transformed into a unidirectional multi-degree-of-freedom vibration system by using the rotation matrix. The vibration model of the vibration isolation platform is established by using the principle of virtual work, and the modal analysis is carried out. The dynamic simulation and finite element analysis are carried out by ANSYS. The simulation results are compared with the theoretical results to verify the correctness of the vibration modeling method, and the vibration characteristics of the vibration isolation platform are compared and analyzed under different attitude. The vibration characteristics of the vibration isolation platform are studied in the ADAMS environment. The next two layers are analyzed respectively on the five-dimensional hybrid vibration isolation platform, and the vibration characteristics of the vibration isolation platform are studied based on the constrained topological transformation method for the dynamic modeling of the vibration isolation platform. The feasibility of the method is verified by comparison with the theoretical results in the previous chapter.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：TB535.1
【參考文獻(xiàn)】
相關(guān)博士學(xué)位論文 前1條
1 姜偉;基于約束拓?fù)渥儞Q的大規(guī)模復(fù)雜多剛體系統(tǒng)振動(dòng)分析[D];華中科技大學(xué);2008年
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