本文關(guān)鍵詞：基于G_F集的四自由度混聯(lián)機(jī)構(gòu)可視化型綜合　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) 型綜合 GF集 支鏈變換 可視化

【摘要】：混聯(lián)機(jī)構(gòu)作為現(xiàn)代機(jī)構(gòu)學(xué)的一個重要分支在航空航天、醫(yī)療康復(fù)、工業(yè)機(jī)器人等工程實踐中得到了廣泛的應(yīng)用�；炻�(lián)機(jī)構(gòu)的型綜合是產(chǎn)品創(chuàng)新的關(guān)鍵環(huán)節(jié),已初步形成了多種型綜合理論和方法體系。在型綜合的過程中,機(jī)構(gòu)構(gòu)造條件的查詢比較復(fù)雜,可視化程度不足。且四自由度混聯(lián)機(jī)構(gòu)已經(jīng)有所應(yīng)用,但其構(gòu)型還不夠豐富。因此,本文基于GF集理論,對四自由度混聯(lián)機(jī)構(gòu)進(jìn)行可視化型綜合。首先,分析了GF集的基本理論及數(shù)據(jù)庫可視化方法。對各種型綜合理論進(jìn)行比較,最終選擇GF集理論進(jìn)行型綜合。歸納GF集的表達(dá)式和分類,說明純轉(zhuǎn)動、純移動以及同時包括轉(zhuǎn)動特征和移動特征的GF集的求交、求和運(yùn)算法則。對各種數(shù)據(jù)庫軟件工具進(jìn)行分析,選擇Access2010作為四自由度混聯(lián)機(jī)構(gòu)型綜合可視化的軟件工具。其次,闡述了構(gòu)成四自由度混聯(lián)機(jī)構(gòu)的重要組件并聯(lián)單元的型綜合步驟,在原始支鏈的基礎(chǔ)上總結(jié)出了每種構(gòu)型以及其對應(yīng)的幾何條件�；贕F集理論,用數(shù)據(jù)庫字符串的形式將構(gòu)型及其幾何條件表達(dá)出來,生成可視化界面。運(yùn)用轉(zhuǎn)動軸線遷移定理、運(yùn)動副替代以及結(jié)構(gòu)變換等方法對并聯(lián)單元的支鏈進(jìn)行構(gòu)型變換,從而生成不同種類的支鏈,為并聯(lián)單元的多樣化提供了方法,還為混聯(lián)機(jī)構(gòu)的型綜合及可視化奠定了基礎(chǔ)。然后,提出了四自由度混聯(lián)機(jī)構(gòu)型綜合的步驟。通過求和運(yùn)算法則,由混聯(lián)機(jī)構(gòu)的末端GF集表達(dá)式分別求出2T2R、1T3R、3T1R類混聯(lián)機(jī)構(gòu)中所具有的并聯(lián)單元及串聯(lián)單元的GF集表達(dá)式,并以運(yùn)動特征的形式表示,建立可視化界面。再以并聯(lián)單元的型綜合方法、支鏈構(gòu)型變換方法以及串聯(lián)單元運(yùn)動副變換為基礎(chǔ),列舉出了部分符合要求的混聯(lián)機(jī)構(gòu)構(gòu)型,并運(yùn)用SolidWorks建出實例模型。最后,實現(xiàn)了四自由度混聯(lián)機(jī)構(gòu)型綜合的可視化。以2T2R類混聯(lián)機(jī)構(gòu)為例,通過可視化總界面選擇得到構(gòu)型及幾何條件,最后對得到的具體構(gòu)型建立三維模型。選擇每種類型的實例用GF集型綜合逆運(yùn)算的方法求解自由度,驗證了模型的正確性。
[Abstract]:A joint mechanism as the important branch of modern mechanism in the aerospace, medical rehabilitation, industrial robots and other engineering practice has been used widely. The hybrid mechanism type synthesis is a key link of product innovation, has formed a variety of integrated theory and method system. In the process of comprehensive type. The structure condition of the query is more complex, and the degree of visualization. Four degree of freedom hybrid mechanism has been applied, but its configuration is not rich enough. Therefore, this paper based on GF set theory, visual type integrated hybrid mechanism of four degrees of freedom. First of all, the analysis of the basic theory of database and visualization method of GF set. Comparing the type synthesis theory, the final choice of GF set theory. Comprehensive inductive expression and classification of GF sets, pure rotation, and at the same time including pure mobile rotation characteristics and moving characteristics of GF sets Intersection, sum algorithm. The database software tools for analysis, Access2010 was selected as the four degree of freedom parallel mechanism type synthesis software visualization tool. Secondly, expounds the type synthesis steps constitute an important component element of four degree of freedom parallel hybrid mechanism, based on the original branch summarizes each configurations and their corresponding geometric conditions. Based on the theory of GF set, with a string in the form of database configuration and geometry expression, generate visual interface. The use of migration theorem of the axis of rotation, branched pair substitutions and structural change of parallel unit configuration transformation, so as to generate branched different offers. Method for diverse parallel units, but also laid the foundation for the comprehensive and mixed type visualization parallel mechanism. Then, proposed four DOF hybrid mechanism type synthesis by steps. Requirements and operational rules, by the end of the GF hybrid mechanism set expression were calculated for 2T2R, 1T3R, 3T1R mixed parallel unit has connected mechanism and series unit GF set expression, and expressed in the movement in the form of features, establish a visual interface. With the method of type synthesis parallel unit, branched structure transform method and unit series motion transform based, enumerated the parts to meet the requirements of the hybrid mechanism, and the use of SolidWorks to construct the model. Finally, the four degree of freedom parallel mechanism type synthesis of mixed visualization. In type 2T2R mixed parallel mechanism as an example, through the visual interface selection and configuration of general geometry finally, establish the three-dimensional model of the specific configuration obtained. Selected examples of each type of GF type synthesis method for inverse calculation of degree of freedom, verify the correctness of the model.

【學(xué)位授予單位】：中北大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TH112

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本文編號：1416987