本文選題：全柔性并聯(lián)機構　切入點：分布柔度式柔順機構　出處：《江西理工大學》2017年碩士論文　論文類型：學位論文

【摘要】：精密制造已經成為制造領域的研究熱點之一,廣泛應用于制造業(yè)、建筑業(yè)、國防工業(yè)、醫(yī)學等尖端領域。精密定位機構作為精密制造的核心部分,其設計水平的高低將直接影響精密制造的水平。集成式全柔性并聯(lián)定位機構通過彈性變形來實現(xiàn)力、能量、運動的傳遞,相對于傳統(tǒng)的并聯(lián)定位機構具有高剛度、高精度、無摩擦的優(yōu)點,因此被廣泛的應用于精密定位領域,然而隨著精密制造行業(yè)的快速發(fā)展,對定位精度的要求也越來越高,在一些精密定位領域,集成式全柔性并聯(lián)微定位機構已經無法滿足精度要求。所以設計一種動態(tài)特性好、定位精度高以及實用性強的超精密定位機構則顯得非常重要。本文引入拓撲優(yōu)化設計理論,對3-RPC型空間分布柔度式柔順機構進行拓撲優(yōu)化設計。得到優(yōu)化后的三維構型,通過有限元分析軟件對其進行靜、動力學仿真,并對實體模型進行實驗研究。本文主要研究工作:(1)以3-RPC并聯(lián)定位機構為研究對象,通過微位移法求解出其輸入輸出之間的映射關系,并結合型綜合理論,設計出3-RPC型全柔性、集成式全柔性定位機構;引入拓撲優(yōu)化理論,設計出3-PRC型分布柔度式柔順機構,通過三維軟件Solidworks創(chuàng)建3種定位機構的三維模型;(2)對3種不同幾何結構的3-RPC型定位機構進行靜、動力學分析。相對于另外兩種并聯(lián)定位機構,3-RPC分布柔度式柔順定位機構的運動精度更高、動態(tài)性能更好。驗證了3-RPC分布柔度式柔順定位機構構型設計的合理性。(3)通過實體實驗測試3-RPC分布柔度式柔順機構動平臺中心點沿著各個運動軸方向上的實際運動軌跡以及定位精度,并對誤差產生的原因進行了分析。測試結果表明3-RPC分布柔度式柔順機構能實現(xiàn)空間三平移運動,而且精度更高,誤差在允許范圍內。
[Abstract]:Precision manufacturing has become one of the research hotspots in manufacturing field. It is widely used in advanced fields such as manufacturing industry, construction industry, national defense industry, medicine and so on. Precision positioning mechanism is the core part of precision manufacturing. The level of design will directly affect the level of precision manufacturing. The integrated fully flexible parallel positioning mechanism realizes the transfer of force, energy and motion through elastic deformation, which has high stiffness and high precision compared with the traditional parallel positioning mechanism. Friction free advantage, so it is widely used in the field of precision positioning, but with the rapid development of precision manufacturing industry, the requirements for positioning accuracy are also higher and higher, in some areas of precision positioning, Therefore, it is very important to design a kind of ultra-precision positioning mechanism with good dynamic characteristics, high positioning accuracy and strong practicability. The topological optimization design of 3-RPC spatial distributed flexibility compliant mechanism is carried out. The optimized three-dimensional configuration is obtained, and the static and dynamic simulation is carried out by finite element analysis software. In this paper, the 3-RPC parallel positioning mechanism is taken as the research object, and the mapping relationship between the input and output of the mechanism is solved by the micro-displacement method, and the 3-RPC type full flexibility is designed in combination with the type synthesis theory. The 3-PRC distributed flexibility compliant mechanism is designed by introducing the topology optimization theory, and the 3D model of three kinds of positioning mechanism is created by using 3D software Solidworks. Dynamic analysis. Compared with the other two parallel positioning mechanisms, the kinematic accuracy of the 3-RPC compliant compliant positioning mechanism is higher than that of the other two parallel positioning mechanisms. The dynamic performance is better. The rationality of the configuration design of 3-RPC distributed compliance compliant positioning mechanism is verified. 3) the actual movement of the center point of 3-RPC distributed compliance compliant mechanism along each moving axis is tested by solid experiment. Track and positioning accuracy, The test results show that the 3-RPC distributed compliance mechanism can realize the three dimensional translation motion, and the accuracy is higher, and the error is within the allowable range.
【學位授予單位】：江西理工大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TH112

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本文編號：1583031