本文關(guān)鍵詞： 并聯(lián)機(jī)構(gòu) 多柔體系統(tǒng)動(dòng)力學(xué) 動(dòng)態(tài)特性分析 彈性變形 仿真　出處：《沈陽建筑大學(xué)》2015年碩士論文　論文類型：學(xué)位論文

【摘要】：多體系統(tǒng)包括多剛體系統(tǒng)和多柔性體系統(tǒng),包含柔性元件的多柔體系統(tǒng)是當(dāng)前最熱門的課題。傳統(tǒng)的多體系統(tǒng)動(dòng)力學(xué)研究主要在多剛體的領(lǐng)域內(nèi)進(jìn)行,然而由于剛性假設(shè),在一些需要考慮構(gòu)件變形的特殊情況下很難保證結(jié)果的精度要求。并聯(lián)機(jī)構(gòu)自問世以來就引起了世界各國的廣泛關(guān)注與高度的重視,隨著并聯(lián)機(jī)構(gòu)向輕型方向的發(fā)展,構(gòu)件的柔度增大,并聯(lián)機(jī)構(gòu)中構(gòu)件的柔性變形不僅會(huì)導(dǎo)致系統(tǒng)的運(yùn)動(dòng)精度降低同時(shí)也會(huì)引起系統(tǒng)的彈性振動(dòng),使得并聯(lián)機(jī)構(gòu)系統(tǒng)的運(yùn)動(dòng)學(xué)、動(dòng)力學(xué)性能受到很大的影響。因此,對具有高精度和性能要求的并聯(lián)機(jī)構(gòu),就必須計(jì)入構(gòu)件的彈性變形對動(dòng)力性能和運(yùn)動(dòng)精度的影響。并聯(lián)機(jī)構(gòu)的柔性多體系統(tǒng)是一個(gè)多閉環(huán)、剛?cè)狁詈系姆蔷�性動(dòng)力學(xué)系統(tǒng),單純地運(yùn)用剛體動(dòng)力學(xué)或彈性力學(xué)都無法準(zhǔn)確描述構(gòu)件的力學(xué)行為,而必須采用多柔體系統(tǒng)動(dòng)力學(xué)理論進(jìn)行分析。本文將并聯(lián)機(jī)構(gòu)與多柔體系統(tǒng)有機(jī)的結(jié)合起來,以具有柔性構(gòu)件的空間三自由度并聯(lián)機(jī)構(gòu)為研究對象,基于柔性多體動(dòng)力學(xué)對3-TPT并聯(lián)機(jī)構(gòu)的動(dòng)態(tài)特性進(jìn)行研究,主要內(nèi)容如下:首先,對所研究的3-TPT并聯(lián)機(jī)構(gòu)的機(jī)構(gòu)特點(diǎn)和運(yùn)動(dòng)學(xué)問題進(jìn)行了分析。其中包括并聯(lián)機(jī)構(gòu)的機(jī)構(gòu)組成和自由度的計(jì)算,位置正解和位置反解的分析和仿真,運(yùn)動(dòng)影響系數(shù)(雅克比矩陣)的計(jì)算,速度和加速度的分析和仿真以及機(jī)構(gòu)的奇異性和平穩(wěn)性的研究。其次,對3-TPT并聯(lián)機(jī)構(gòu)柔性多體系統(tǒng)動(dòng)力學(xué)性能進(jìn)行了研究。針對并聯(lián)機(jī)構(gòu)柔性多體系統(tǒng)建模的復(fù)雜性,考慮柔性從動(dòng)桿剛性運(yùn)動(dòng)的剛?cè)狁詈咸匦?利用假設(shè)模態(tài)法和拉格朗日方程建立此類并聯(lián)機(jī)構(gòu)柔性多體系統(tǒng)的動(dòng)力學(xué)彈性振動(dòng)微分方程。基于Euler-Bernoulli梁理論,采用假設(shè)模態(tài)法,分析各支鏈上從動(dòng)桿的柔性變形,并利用Lagrange法,推導(dǎo)出3-TPT空間并聯(lián)機(jī)構(gòu)柔性多體系統(tǒng)的動(dòng)力學(xué)方程,完成動(dòng)力學(xué)建模。再次,在MATLAB軟件環(huán)境下,對3-TPT并聯(lián)機(jī)構(gòu)柔性多體系統(tǒng)動(dòng)力學(xué)模型進(jìn)行仿真分析,計(jì)算出各支鏈上從動(dòng)桿中點(diǎn)處的柔性變形,其中包括軸向變形量、橫向變形量和由橫向變形引起的軸向縮短量,并計(jì)算出由彈性變形產(chǎn)生的彈性勢能,完成動(dòng)力學(xué)仿真。最后,分析由彈性變形引起的桿長誤差和鉸鏈間隙誤差導(dǎo)致最終的動(dòng)平臺的位置誤差。分別應(yīng)用矩陣法和誤差獨(dú)立作用原理建立誤差模型,并將由矩陣法建立的誤差模型基于蒙特卡洛法進(jìn)行模擬仿真。本文基于柔性多體動(dòng)力學(xué)對3-TPT并聯(lián)機(jī)構(gòu)進(jìn)行動(dòng)力學(xué)建模和仿真分析研究,并分析了由彈性變形引起的桿長誤差和鉸鏈間隙誤差對機(jī)構(gòu)動(dòng)平臺誤差的影響,為此類含有柔性部件的并聯(lián)機(jī)構(gòu)的動(dòng)態(tài)特性和誤差分析的進(jìn)一步研究奠定了基礎(chǔ)。
[Abstract]:Multi-body system includes multi-rigid-body system and multi-flexible body system. The flexible multi-body system with flexible elements is the most popular subject at present. The traditional multi-body system dynamics research is mainly carried out in the field of multi-rigid-body system, but because of the rigid assumption, the multi-body system dynamics research is mainly carried out in the field of multi-rigid-body system. It is very difficult to guarantee the precision of the result under some special circumstances which need to consider the deformation of the component. The parallel mechanism has attracted extensive attention and high attention from all over the world since it came out, with the development of the parallel mechanism towards the light direction. The flexibility of the component increases, and the flexible deformation of the component in the parallel mechanism will not only lead to the decrease of the system motion accuracy, but also cause the elastic vibration of the system, which will greatly affect the kinematics and dynamic performance of the parallel mechanism system. For the parallel mechanism with high accuracy and high performance, the influence of elastic deformation of member on dynamic performance and kinematic accuracy must be taken into account. The flexible multi-body system of parallel mechanism is a multi-closed loop, rigid-flexible coupling nonlinear dynamic system. Simply using rigid body dynamics or elastic mechanics can not accurately describe the mechanical behavior of the member, but must be analyzed by the theory of multi-flexible body system dynamics. In this paper, the parallel mechanism and the multi-flexible body system are organically combined together. Taking the spatial 3-DOF parallel mechanism with flexible members as the research object, the dynamic characteristics of 3-TPT parallel mechanism are studied based on flexible multi-body dynamics. The main contents are as follows: first, The characteristics and kinematics of the 3-TPT parallel mechanism are analyzed, including the calculation of the mechanism composition and degree of freedom, the analysis and simulation of the position forward solution and the position inverse solution. Calculation of motion influence coefficient (Jacobi matrix), analysis and simulation of velocity and acceleration, singularity and stationarity of mechanism. Secondly, The dynamic performance of flexible multi-body system of 3-TPT parallel mechanism is studied. In view of the complexity of modeling of flexible multi-body system of parallel mechanism, the rigid-flexible coupling characteristic of rigid motion of flexible follower is considered. The dynamic elastic vibration differential equation of the flexible multi-body system of parallel mechanism is established by using the assumed mode method and Lagrange equation. Based on the Euler-Bernoulli beam theory, the flexible deformation of the follower on each branch chain is analyzed by using the hypothesis mode method, and the Lagrange method is used. The dynamic equation of 3-TPT space parallel mechanism flexible multi-body system is derived, and the dynamic modeling is completed. Thirdly, the dynamic model of 3-TPT parallel mechanism flexible multi-body system is simulated and analyzed under the environment of MATLAB software. The flexible deformation at the middle point of the follower on each branch chain is calculated, including the axial deformation, the transverse deformation and the axial shortening caused by the transverse deformation, and the elastic potential energy generated by the elastic deformation is calculated to complete the dynamic simulation. The position error of the final moving platform caused by the error of rod length caused by elastic deformation and the error of hinge clearance are analyzed. The error model is established by using the matrix method and the principle of error independent action, respectively. The error model established by matrix method is simulated by Monte Carlo method. The dynamic modeling and simulation analysis of 3-TPT parallel mechanism based on flexible multi-body dynamics are studied in this paper. The influence of rod length error and hinge clearance error caused by elastic deformation on the mechanism platform error is analyzed, which lays a foundation for the further study of the dynamic characteristics and error analysis of this kind of parallel mechanism with flexible components.
【學(xué)位授予單位】：沈陽建筑大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TH112

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