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

【摘要】：精密制造已經(jīng)成為制造領(lǐng)域的研究熱點(diǎn)之一,廣泛應(yīng)用于制造業(yè)、建筑業(yè)、國防工業(yè)、醫(yī)學(xué)等尖端領(lǐng)域。精密定位機(jī)構(gòu)作為精密制造的核心部分,其設(shè)計(jì)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(jī)構(gòu)通過彈性變形來實(shí)現(xiàn)力、能量、運(yùn)動的傳遞,相對于傳統(tǒng)的并聯(lián)定位機(jī)構(gòu)具有高剛度、高精度、無摩擦的優(yōu)點(diǎn),因此被廣泛的應(yīng)用于精密定位領(lǐng)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(lǐng)域,集成式全柔性并聯(lián)微定位機(jī)構(gòu)已經(jīng)無法滿足精度要求。所以設(shè)計(jì)一種動態(tài)特性好、定位精度高以及實(shí)用性強(qiáng)的超精密定位機(jī)構(gòu)則顯得非常重要。本文引入拓?fù)鋬?yōu)化設(shè)計(jì)理論,對3-RPC型空間分布柔度式柔順機(jī)構(gòu)進(jìn)行拓?fù)鋬?yōu)化設(shè)計(jì)。得到優(yōu)化后的三維構(gòu)型,通過有限元分析軟件對其進(jìn)行靜、動力學(xué)仿真,并對實(shí)體模型進(jìn)行實(shí)驗(yàn)研究。本文主要研究工作:(1)以3-RPC并聯(lián)定位機(jī)構(gòu)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(guān)系,并結(jié)合型綜合理論,設(shè)計(jì)出3-RPC型全柔性、集成式全柔性定位機(jī)構(gòu);引入拓?fù)鋬?yōu)化理論,設(shè)計(jì)出3-PRC型分布柔度式柔順機(jī)構(gòu),通過三維軟件Solidworks創(chuàng)建3種定位機(jī)構(gòu)的三維模型;(2)對3種不同幾何結(jié)構(gòu)的3-RPC型定位機(jī)構(gòu)進(jìn)行靜、動力學(xué)分析。相對于另外兩種并聯(lián)定位機(jī)構(gòu),3-RPC分布柔度式柔順定位機(jī)構(gòu)的運(yùn)動精度更高、動態(tài)性能更好。驗(yàn)證了3-RPC分布柔度式柔順定位機(jī)構(gòu)構(gòu)型設(shè)計(jì)的合理性。(3)通過實(shí)體實(shí)驗(yàn)測試3-RPC分布柔度式柔順機(jī)構(gòu)動平臺中心點(diǎn)沿著各個(gè)運(yùn)動軸方向上的實(shí)際運(yùn)動軌跡以及定位精度,并對誤差產(chǎn)生的原因進(jìn)行了分析。測試結(jié)果表明3-RPC分布柔度式柔順機(jī)構(gòu)能實(shí)現(xiàn)空間三平移運(yùn)動,而且精度更高,誤差在允許范圍內(nèi)。
[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(xué)位授予單位】：江西理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TH112

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