本文關(guān)鍵詞：并聯(lián)變胞機(jī)構(gòu)的結(jié)構(gòu)分析與綜合　出處：《北京郵電大學(xué)》2015年碩士論文　論文類(lèi)型：學(xué)位論文

  更多相關(guān)文章： 并聯(lián)變胞機(jī)構(gòu) 分塊鄰接矩陣 二進(jìn)制編碼 螺旋理論 并聯(lián)變胞機(jī)械手

【摘要】：并聯(lián)變胞機(jī)構(gòu)是一種具有變胞特性的并聯(lián)機(jī)構(gòu),這種新型機(jī)構(gòu)兼具并聯(lián)機(jī)構(gòu)承載能力大、精度高等優(yōu)點(diǎn)和變胞機(jī)構(gòu)拓?fù)淇勺�、自由度可變的特點(diǎn),從而能夠適應(yīng)復(fù)雜多樣的功能需求和工作環(huán)境。 本文首先通過(guò)對(duì)并聯(lián)變胞機(jī)構(gòu)的本質(zhì)的研究給出并聯(lián)變胞機(jī)構(gòu)的定義,通過(guò)對(duì)其變胞方式的研究對(duì)這種新型機(jī)構(gòu)進(jìn)行分類(lèi),揭示了并聯(lián)變胞機(jī)構(gòu)的結(jié)構(gòu)組成特點(diǎn),并進(jìn)一步介紹了并聯(lián)變胞機(jī)構(gòu)的描述方式。 其次,針對(duì)現(xiàn)有的變胞機(jī)構(gòu)構(gòu)態(tài)變換的鄰接矩陣演算方法在分析多支鏈并聯(lián)變胞機(jī)構(gòu)時(shí)存在的描述困難、計(jì)算復(fù)雜等問(wèn)題,提出分塊鄰接矩陣分析方法,并給出通用的公式化的矩陣描述和演算方法。在此基礎(chǔ)上提出基于運(yùn)動(dòng)副二進(jìn)制編碼的分塊三維鄰接矩陣描述方法,不僅可以描述并聯(lián)變胞機(jī)構(gòu)各桿件間的連接關(guān)系,而且可以表示出運(yùn)動(dòng)副的類(lèi)型和軸線方向,從而更加充分地揭示并聯(lián)變胞機(jī)構(gòu)的拓?fù)浣Y(jié)構(gòu)特征。提出分塊螺旋鄰接矩陣法,將并聯(lián)變胞機(jī)構(gòu)的結(jié)構(gòu)特性和運(yùn)動(dòng)特性結(jié)合起來(lái),這就為并聯(lián)變胞機(jī)構(gòu)的結(jié)構(gòu)分析提供了一系列新方法。 接著,詳細(xì)闡述了一種實(shí)用的并聯(lián)變胞機(jī)構(gòu)的設(shè)計(jì)理論,給出一種并聯(lián)變胞機(jī)構(gòu)創(chuàng)新設(shè)計(jì)實(shí)例,完善了并聯(lián)變胞機(jī)構(gòu)的結(jié)構(gòu)綜合理論體系。 最后,針對(duì)一種新型3-CPU并聯(lián)變胞機(jī)械手從提出設(shè)計(jì)需求到模型建立的全過(guò)程進(jìn)行了系統(tǒng)的分析,并詳細(xì)闡述了變胞U副的機(jī)械結(jié)構(gòu)及基于齒輪嚙合的工作原理。 本文在并聯(lián)變胞機(jī)構(gòu)的結(jié)構(gòu)分析方面提出了三種方法,在并聯(lián)變胞機(jī)構(gòu)的綜合方面闡述了一種實(shí)用的綜合理論并引入了創(chuàng)新設(shè)計(jì)方法,從而為并聯(lián)變胞機(jī)構(gòu)的理論完善和進(jìn)一步應(yīng)用奠定了一定基礎(chǔ)。
[Abstract]:Parallel metamorphic mechanism is a kind of parallel mechanism with variable cell characteristics. This new mechanism has the advantages of large bearing capacity and high precision of parallel mechanism, and has the characteristics of variable topology and variable degree of freedom of metamorphic mechanism. In order to adapt to the complex and diverse functional needs and working environment. In this paper, the definition of parallel metamorphic mechanism is given by studying the nature of parallel metamorphic mechanism, and the new mechanism is classified by studying its metamorphosis mode. The structural characteristics of parallel metamorphic mechanism are revealed, and the description of parallel metamorphic mechanism is further introduced. Secondly, in view of the difficulties in describing and calculating the problems existing in the analysis of multi-branched parallel metamorphic mechanisms, a block adjacency matrix analysis method is proposed. A general formulation matrix description and calculus method is given. Based on this, a block 3D adjacency matrix description method based on motion pair binary coding is proposed. It can not only describe the connection relationship among the members of the parallel variable cell mechanism, but also indicate the type and axis direction of the kinematic pair. In order to fully reveal the topological characteristics of the parallel metamorphic mechanism, a block helical adjacency matrix method is proposed to combine the structural characteristics and the kinematic characteristics of the parallel metamorphic mechanism. This provides a series of new methods for the structural analysis of parallel metamorphic mechanisms. Then, a practical design theory of shunt metamorphic mechanism is described in detail, and an innovative design example of shunt metamorphic mechanism is given, which improves the structural comprehensive theoretical system of shunt metamorphic mechanism. Finally, a new 3-CPU parallel variable cell manipulator is analyzed systematically from the design requirement to the model building. The mechanical structure and working principle based on gear meshing of variable cell U pair are described in detail. In this paper, three methods are proposed to analyze the structure of parallel metamorphic mechanism. In the aspect of synthesis of parallel metamorphic mechanism, a practical synthesis theory and innovative design method are introduced. It lays a foundation for the theoretical perfection and further application of parallel metamorphic mechanism.
【學(xué)位授予單位】：北京郵電大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類(lèi)號(hào)】：TH112

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