本文選題：少自由度并聯機構 + 多維隔振　； 參考：《山東大學》2014年碩士論文

【摘要】：隨著人們對各種儀器設備的精密度、使用壽命及人體乘坐交通工具的舒適性的要求越來越高,如何有效地控制和預防多維振動引起的危害成為工程技術的一個重要問題。傳統(tǒng)的多維隔振方法由于存在種種缺陷已不能滿足多維振動控制要求,近年來,有學者將并聯機構應用到多維隔振平臺,并取得了一定突破,但由于實際應用中很多情況下并不需要完全實現六個自由度的隔振,而少自由度并聯機構既能滿足所需要的自由度數,又可以使機構簡化,經濟性好,控制相對容易,因此對相關理論進行研究十分必要。 本論文是在國家自然科學基金“基于柔性變胞機構的精密設備多維振動的主動控制研究(51275275)”和山東省優(yōu)秀中青年科學家科研獎勵基金“基于柔性變胞機構的機載精密設備的振動主動控制研究(BS2010ZZ006)”的資助下,對少自由度并聯機構的多維隔振進行理論與應用研究。 本論文基于少自由度并聯機構理論,設計綜合了一種變自由度可重構并聯機構,該機構具有兩種構型,一種構型為3平移自由度并聯機構,一種為3平移1轉動自由度并聯機構,這兩種構型結構簡單,機型緊湊,精度高,容易控制,而且結構相似,易相互轉換,可作為搭建多維隔振平臺的主體機構,實現三維和四維隔振。 第一,將少自由度并聯機構應用到多維隔振領域,首先對少自由度并聯機構進行分析與綜合,然后根據多維振動的特點來設計對應的少自由度并聯機構,最后利用約束螺旋理論對機構的自由度進行驗證分析。 第二,對設計的少自由度并聯機構進行了運動學和力學分析,對其位置正逆解、速度、解耦性、工作空間和力學方程進行了求解,分析證明這兩種機構的運動學和力學方程比較簡單,機構有很好的解耦性,適合作為隔振平臺的主體機構使用。 第三,分別以這兩種少自由度并聯機構作為多維隔振的主體機構,找出該機構的主動副的位置,并添加彈簧阻尼系統(tǒng),構建多維隔振平臺模型,建立動力學方程,分析了其固有頻率及各結構參數變化對系統(tǒng)固有頻率的影響。 第四,利用動力學仿真軟件Adams對該隔振平臺進行運動學與動力學仿真,與Matlab軟件分析計算的結果進行對比驗證,證明了該機構具有良好的多維隔振效果。 本文根據實際工程中多維振動的特點,將兩種少自由度并聯機構進行綜合,設計出了一種可變自由度的可重構并聯機構,并將其應用于機載設備的多維隔振,研究表明：兩種并聯機構分別能夠實現三自由度和四自由度隔振,適于作為多維隔振的主體機構,并且具有優(yōu)良的隔振性能。同時,兩種機構結構相似,只需改變其中一個運動副便可實現機構間相互轉換,也為下一步機構的變胞研究打下基礎。
[Abstract]:With the increasing demands on the precision, service life and comfort of various instruments and equipments, how to effectively control and prevent the harm caused by multidimensional vibration has become an important problem in engineering technology. The traditional multi-dimensional vibration isolation method can not meet the requirements of multi-dimensional vibration control because of its various defects. In recent years, some scholars have applied parallel mechanism to multi-dimensional vibration isolation platform, and have made a certain breakthrough. However, in many practical applications, the vibration isolation of six degrees of freedom does not need to be fully realized, and the small degree of freedom parallel mechanism can not only satisfy the required number of degrees of freedom, but also simplify the mechanism, which is economical and relatively easy to control. Therefore, it is necessary to study the relevant theories. This thesis is based on the National Natural Science Foundation of China "active control of multi-dimensional vibration of precision equipment based on flexible metamorphic mechanism" and the "Research Award Fund for Young and Middle-aged scientists of Shandong Province" "Airborne based on flexible metamorphic Mechanism" Research on active Vibration Control of Precision equipment (BS2010ZZ006) ", The theory and application of multi-dimensional vibration isolation of parallel mechanisms with less degrees of freedom are studied. Based on the theory of small degree of freedom parallel mechanism, a variable degree of freedom reconfigurable parallel mechanism is designed and synthesized in this paper. The mechanism has two configurations, one of which is 3 translation degrees of freedom parallel mechanism. The two kinds of parallel mechanism are simple in structure, compact in type, high in precision, easy to control, similar in structure and easy to convert to each other, so they can be used as the main mechanism for setting up multi-dimensional vibration isolation platform. Three-dimensional and four-dimensional vibration isolation is realized. First, the small degree of freedom parallel mechanism is applied to the field of multi-dimensional vibration isolation. Firstly, the small degree of freedom parallel mechanism is analyzed and synthesized, and then the corresponding small degree of freedom parallel mechanism is designed according to the characteristics of multidimensional vibration. Finally, the degree of freedom of the mechanism is verified and analyzed by the theory of constrained helix. Secondly, the kinematics and mechanics of the designed parallel mechanism with less degrees of freedom are analyzed, and the forward and inverse solutions, velocity, decoupling, workspace and mechanical equations are solved. It is proved that the kinematics and mechanical equations of the two mechanisms are simple, and the mechanism has good decoupling, which is suitable for use as the main mechanism of vibration isolation platform. Thirdly, the two kinds of parallel mechanisms with small degrees of freedom are taken as the main mechanism of multi-dimensional vibration isolation, and the position of the active pair of the mechanism is found out, and the spring damping system is added to build the multi-dimensional vibration isolation platform model and establish the dynamic equation. The influence of the natural frequency and the structural parameters on the natural frequency of the system is analyzed. Fourthly, the kinematics and dynamics of the platform are simulated by the dynamic simulation software Adams, and the results are compared with the results of the Matlab software. The results show that the mechanism has a good multi-dimensional vibration isolation effect. According to the characteristics of multi-dimensional vibration in practical engineering, two kinds of parallel mechanisms with less degrees of freedom are synthesized, and a reconfigurable parallel mechanism with variable degrees of freedom is designed and applied to the multi-dimensional vibration isolation of airborne equipment. The results show that the two parallel mechanisms can achieve three and four degrees of freedom respectively and are suitable for multi-dimensional vibration isolation and have excellent isolation performance. At the same time, the structure of the two mechanisms is similar, only one of the two mechanisms can be changed by changing one of the motion pairs, which will lay the foundation for the next research on the mechanism transformation.
【學位授予單位】：山東大學
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：TB535.1

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