本文關(guān)鍵詞：一種新型混聯(lián)機(jī)構(gòu)的設(shè)計(jì)與性能研究　出處：《中北大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 混聯(lián)機(jī)構(gòu) 位置分析 工作空間 仿真

【摘要】：混聯(lián)機(jī)構(gòu)集串聯(lián)機(jī)構(gòu)與并聯(lián)機(jī)構(gòu)的優(yōu)點(diǎn)于一身,能夠適應(yīng)更高要求的生產(chǎn)活動(dòng)。本文設(shè)計(jì)了一種具有大工作空間、高靈活性的串-并混聯(lián)機(jī)構(gòu),并對(duì)該混聯(lián)機(jī)構(gòu)進(jìn)行了構(gòu)型、運(yùn)動(dòng)學(xué)、工作空間及運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)仿真研究。首先,提出了一種新型混聯(lián)機(jī)構(gòu)的構(gòu)型。該混聯(lián)機(jī)構(gòu)由一個(gè)3-UPT并聯(lián)機(jī)構(gòu)和一個(gè)2-DOF轉(zhuǎn)向機(jī)構(gòu)串聯(lián)組成。2自由度轉(zhuǎn)向機(jī)構(gòu)串聯(lián)在3-UPT并聯(lián)機(jī)構(gòu)的定平臺(tái)與機(jī)架之間。構(gòu)成的新型混聯(lián)機(jī)構(gòu)具有大工作空間和高靈活性。分別利用Kutzbach-Grübler公式和螺旋理論對(duì)該機(jī)構(gòu)進(jìn)行了自由度分析。其次,推導(dǎo)了該混聯(lián)機(jī)構(gòu)位置解的表達(dá)式。采用閉環(huán)矢量法分析了3-UPT并聯(lián)機(jī)構(gòu)的位置正逆解,利用D-H法分析了2-DOF轉(zhuǎn)向機(jī)構(gòu)的位置正反解,分別得到兩個(gè)機(jī)構(gòu)的旋轉(zhuǎn)矩陣。最后,將兩個(gè)機(jī)構(gòu)的位置正反解集成,得到了混聯(lián)機(jī)構(gòu)的整體位置解以及混聯(lián)機(jī)構(gòu)的齊次旋轉(zhuǎn)變換矩陣。然后,進(jìn)行了混聯(lián)機(jī)構(gòu)工作空間的研究。采用基于運(yùn)動(dòng)/力傳遞性能指標(biāo)對(duì)3-UPT并聯(lián)機(jī)構(gòu)進(jìn)行了參數(shù)優(yōu)化,得到了3-UPT并聯(lián)機(jī)構(gòu)上、下平臺(tái)的理想?yún)?shù)。分析了影響工作空間的因素,分別利用數(shù)值搜索法和仿真得到了3-UPT并聯(lián)機(jī)構(gòu)和2-DOF轉(zhuǎn)向機(jī)構(gòu)的工作空間,最后集成兩機(jī)構(gòu)的工作空間,得到新型混聯(lián)機(jī)構(gòu)的工作空間,并基于驅(qū)動(dòng)方式將工作空間進(jìn)行了劃分。最后,利用Adams仿真軟件對(duì)該機(jī)構(gòu)進(jìn)行了仿真分析。在特定驅(qū)動(dòng)和載荷下,得到了機(jī)構(gòu)執(zhí)行器的位移、速度、加速度變化曲線和機(jī)構(gòu)驅(qū)動(dòng)件的受力情況、功率變化。
[Abstract]:The hybrid mechanism combines the advantages of series mechanism and parallel mechanism, and can adapt to higher requirements of production activities. In this paper, a series-parallel mechanism with large workspace and high flexibility is designed. The configuration, kinematics, workspace, kinematics and dynamics of the hybrid mechanism are studied. A new type of hybrid mechanism is proposed, which consists of a 3-UPT parallel mechanism and a 2-DOF steering mechanism in series. 2 degrees of freedom steering mechanism is in series with 3-UPT parallel mechanism. Between the fixed platform and the frame, the new hybrid mechanism has large workspace and high flexibility. The degree of freedom of the mechanism is analyzed by using Kutzbach-Gr 眉 bler formula and screw theory, respectively. . second. The position inverse solution of 3-UPT parallel mechanism is analyzed by closed-loop vector method, and the position inverse solution of 2-DOF steering mechanism is analyzed by D-H method. Finally, the position forward and inverse solutions of the two mechanisms are integrated, and the global position solution of the hybrid mechanism and the homogeneous rotation transformation matrix of the hybrid mechanism are obtained. The workspace of the hybrid mechanism is studied. The parameters of the 3-UPT parallel mechanism are optimized based on the motion / force transfer performance index, and the 3-UPT parallel mechanism is obtained. The factors affecting the workspace are analyzed, and the workspace of 3-UPT parallel mechanism and 2-DOF steering mechanism are obtained by numerical search method and simulation, respectively. Finally, the workspace of the two mechanisms is integrated, and the workspace of the new hybrid mechanism is obtained. Finally, the workspace is divided based on the driving mode. Finally. The Adams simulation software is used to simulate and analyze the mechanism. The displacement, velocity and acceleration curves of the actuator are obtained under the specific driving and loading conditions. Power change.
【學(xué)位授予單位】：中北大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TH112

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