發(fā)布時(shí)間：2018-04-10 00:22

  本文選題：開內(nèi)盒機(jī)構(gòu)　切入點(diǎn)：方案設(shè)計(jì)　出處：《湘潭大學(xué)》2017年碩士論文

【摘要】：智能藥品包裝機(jī)開內(nèi)盒機(jī)構(gòu)由于運(yùn)動(dòng)軌跡復(fù)雜、精度要求高,簡單的單自由度機(jī)構(gòu)難以實(shí)現(xiàn)其功能要求,因此對(duì)其設(shè)計(jì)與性能研究顯得尤為重要。二自由度機(jī)構(gòu)相對(duì)于單自由度機(jī)構(gòu)具有更高的機(jī)構(gòu)柔性,能實(shí)現(xiàn)平面內(nèi)任意復(fù)雜的運(yùn)動(dòng)規(guī)律,因此吸引了大量學(xué)者對(duì)其進(jìn)行研究。然而,縱觀國內(nèi)外研究現(xiàn)狀,主要集中在設(shè)計(jì)分析已有的五桿二自由度機(jī)構(gòu),或者對(duì)多桿二自由度機(jī)構(gòu)進(jìn)行數(shù)綜合,而對(duì)復(fù)雜的九桿二自由度機(jī)構(gòu)以及其路徑跟蹤相關(guān)研究幾乎還處于空白階段。論文以開內(nèi)盒九桿二自由度機(jī)構(gòu)為研究對(duì)象,對(duì)其方案設(shè)計(jì)、運(yùn)動(dòng)特性以及路徑跟蹤等相關(guān)問題進(jìn)行了較深入的研究,論文的主要完成了如下工作:采用概念設(shè)計(jì)中形態(tài)學(xué)矩陣表示解法目錄的方法,對(duì)智能藥品包裝機(jī)開內(nèi)盒機(jī)構(gòu)進(jìn)行了原理方案設(shè)計(jì),應(yīng)用加權(quán)計(jì)分法對(duì)原理方案進(jìn)行評(píng)價(jià)與決策,獲得了九桿二自由度開內(nèi)盒機(jī)構(gòu)原理方案;并結(jié)合機(jī)構(gòu)組成理論,利用創(chuàng)造性設(shè)計(jì)法對(duì)九桿二自由度開內(nèi)盒機(jī)構(gòu)進(jìn)行了方案設(shè)計(jì)。分別固定兩原動(dòng)件,將九桿二自由度機(jī)構(gòu)轉(zhuǎn)化為2種八桿單自由度機(jī)構(gòu),建立了相應(yīng)的運(yùn)動(dòng)分析數(shù)學(xué)模型,在Creo中構(gòu)建了對(duì)應(yīng)的虛擬樣機(jī),運(yùn)動(dòng)學(xué)仿真分析獲得了兩原動(dòng)件對(duì)九桿二自由度機(jī)構(gòu)位移變化的影響規(guī)律;并通過分析2種八桿單自由度機(jī)構(gòu)的運(yùn)動(dòng)區(qū)域,得到了九桿二自由度開內(nèi)盒機(jī)構(gòu)的運(yùn)動(dòng)區(qū)域,驗(yàn)證了九桿二自由度開內(nèi)盒機(jī)構(gòu)可實(shí)現(xiàn)預(yù)定軌跡。將機(jī)構(gòu)與工藝軌跡參數(shù)化,以機(jī)構(gòu)學(xué)、工藝要求為基礎(chǔ)建立約束條件,研究了兩原動(dòng)件變化規(guī)律的相關(guān)算法,提出了路徑跟蹤逼近法,可獲得九桿二自由度機(jī)構(gòu)開內(nèi)盒工藝軌跡的原動(dòng)件控制參數(shù);編寫了基于MATLAB的路徑跟蹤逼近法程序,并在Creo虛擬樣機(jī)中應(yīng)用程序得到的控制參數(shù)進(jìn)行了聯(lián)合仿真,驗(yàn)證了路徑跟蹤逼近法的正確性。
[Abstract]:Because of the complex movement track and high precision, it is difficult to realize the function requirement of the simple single degree of freedom mechanism, so it is very important to study its design and performance.Compared with the single-degree-of-freedom mechanism, the two-degree-of-freedom mechanism has higher flexibility and can realize arbitrary and complex motion law in the plane, so it attracts a lot of scholars to study it.However, throughout the research situation at home and abroad, it is mainly focused on the design and analysis of the existing five-bar two-degree-of-freedom mechanism, or the number synthesis of the multi-bar two-degree-of-freedom mechanism.But the research on the complex nine-bar two-degree-of-freedom mechanism and its path tracking is still in the blank stage.In this paper, the open box nine-bar two-degree-of-freedom mechanism is taken as the research object, and some related problems, such as scheme design, motion characteristics and path tracking, are studied deeply.The main work of this paper is as follows: by using the method of morphological matrix representation to solve the catalogue in the conceptual design, the principle scheme of the open inner box mechanism of the intelligent drug packaging machine is designed.By using the weighted scoring method to evaluate and decide the principle scheme, the principle scheme of the nine-bar two-degree-of-freedom open inner box mechanism is obtained, and the creative design method is used to design the nine-bar and two-degree-of-freedom open inner box mechanism combined with the theory of mechanism composition.Two original moving-parts are fixed respectively, the nine-bar two-degree-of-freedom mechanism is transformed into two kinds of eight-bar single-degree-of-freedom mechanisms, the corresponding mathematical model of motion analysis is established, and the corresponding virtual prototype is constructed in Creo.The kinematics simulation results show the influence of two primary moving parts on the displacement change of the mechanism with two degrees of freedom, and by analyzing the motion regions of two kinds of single-degree-of-freedom mechanisms with eight rods, the motion region of the mechanism with two degrees of freedom of nine rods and two degrees of freedom is obtained.It is verified that the open box mechanism with two degrees of freedom of nine rods can achieve a predetermined track.The mechanism and process trajectory are parameterized, and the constraint conditions are established on the basis of mechanism and process requirements. The related algorithms for the variation law of two primary moving parts are studied, and the path tracking approximation method is proposed.The control parameters of the open inner box process locus of the nine-bar two-degree-of-freedom mechanism can be obtained, and the path tracking and approximation method program based on MATLAB is written, and the control parameters obtained by the application program in the Creo virtual prototype are simulated jointly.The correctness of the path tracking approximation method is verified.
【學(xué)位授予單位】：湘潭大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TB486

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