本文選題：少自由度并聯(lián)機(jī)構(gòu) + 多維隔振　； 參考：《山東大學(xué)》2014年碩士論文

【摘要】：隨著人們對各種儀器設(shè)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(yù)防多維振動引起的危害成為工程技術(shù)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(xué)者將并聯(lián)機(jī)構(gòu)應(yīng)用到多維隔振平臺,并取得了一定突破,但由于實(shí)際應(yīng)用中很多情況下并不需要完全實(shí)現(xiàn)六個自由度的隔振,而少自由度并聯(lián)機(jī)構(gòu)既能滿足所需要的自由度數(shù),又可以使機(jī)構(gòu)簡化,經(jīng)濟(jì)性好,控制相對容易,因此對相關(guān)理論進(jìn)行研究十分必要。 本論文是在國家自然科學(xué)基金“基于柔性變胞機(jī)構(gòu)的精密設(shè)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(xué)家科研獎勵基金“基于柔性變胞機(jī)構(gòu)的機(jī)載精密設(shè)備的振動主動控制研究(BS2010ZZ006)”的資助下,對少自由度并聯(lián)機(jī)構(gòu)的多維隔振進(jìn)行理論與應(yīng)用研究。 本論文基于少自由度并聯(lián)機(jī)構(gòu)理論,設(shè)計綜合了一種變自由度可重構(gòu)并聯(lián)機(jī)構(gòu),該機(jī)構(gòu)具有兩種構(gòu)型,一種構(gòu)型為3平移自由度并聯(lián)機(jī)構(gòu),一種為3平移1轉(zhuǎn)動自由度并聯(lián)機(jī)構(gòu),這兩種構(gòu)型結(jié)構(gòu)簡單,機(jī)型緊湊,精度高,容易控制,而且結(jié)構(gòu)相似,易相互轉(zhuǎn)換,可作為搭建多維隔振平臺的主體機(jī)構(gòu),實(shí)現(xiàn)三維和四維隔振。 第一,將少自由度并聯(lián)機(jī)構(gòu)應(yīng)用到多維隔振領(lǐng)域,首先對少自由度并聯(lián)機(jī)構(gòu)進(jìn)行分析與綜合,然后根據(jù)多維振動的特點(diǎn)來設(shè)計對應(yīng)的少自由度并聯(lián)機(jī)構(gòu),最后利用約束螺旋理論對機(jī)構(gòu)的自由度進(jìn)行驗(yàn)證分析。 第二,對設(shè)計的少自由度并聯(lián)機(jī)構(gòu)進(jìn)行了運(yùn)動學(xué)和力學(xué)分析,對其位置正逆解、速度、解耦性、工作空間和力學(xué)方程進(jìn)行了求解,分析證明這兩種機(jī)構(gòu)的運(yùn)動學(xué)和力學(xué)方程比較簡單,機(jī)構(gòu)有很好的解耦性,適合作為隔振平臺的主體機(jī)構(gòu)使用。 第三,分別以這兩種少自由度并聯(lián)機(jī)構(gòu)作為多維隔振的主體機(jī)構(gòu),找出該機(jī)構(gòu)的主動副的位置,并添加彈簧阻尼系統(tǒng),構(gòu)建多維隔振平臺模型,建立動力學(xué)方程,分析了其固有頻率及各結(jié)構(gòu)參數(shù)變化對系統(tǒng)固有頻率的影響。 第四,利用動力學(xué)仿真軟件Adams對該隔振平臺進(jìn)行運(yùn)動學(xué)與動力學(xué)仿真,與Matlab軟件分析計算的結(jié)果進(jìn)行對比驗(yàn)證,證明了該機(jī)構(gòu)具有良好的多維隔振效果。 本文根據(jù)實(shí)際工程中多維振動的特點(diǎn),將兩種少自由度并聯(lián)機(jī)構(gòu)進(jìn)行綜合,設(shè)計出了一種可變自由度的可重構(gòu)并聯(lián)機(jī)構(gòu),并將其應(yīng)用于機(jī)載設(shè)備的多維隔振,研究表明：兩種并聯(lián)機(jī)構(gòu)分別能夠?qū)崿F(xiàn)三自由度和四自由度隔振,適于作為多維隔振的主體機(jī)構(gòu),并且具有優(yōu)良的隔振性能。同時,兩種機(jī)構(gòu)結(jié)構(gòu)相似,只需改變其中一個運(yùn)動副便可實(shí)現(xiàn)機(jī)構(gòu)間相互轉(zhuǎn)換,也為下一步機(jī)構(gòu)的變胞研究打下基礎(chǔ)。
[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(xué)位授予單位】：山東大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：TB535.1

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