本文選題：分布柔度式平面柔順機(jī)構(gòu)　切入點(diǎn)：運(yùn)動(dòng)學(xué)　出處：《江西理工大學(xué)》2017年碩士論文

【摘要】：精密定位技術(shù)應(yīng)用非常廣泛,它在納米技術(shù)、生物工程、光學(xué)組件定位等技術(shù)研究領(lǐng)域中的基礎(chǔ)性關(guān)鍵技術(shù),在這些領(lǐng)域中發(fā)揮著重要作用,也是保證精密定位的關(guān)鍵技術(shù)支撐。同時(shí)精密定位技術(shù)在科學(xué)技術(shù)發(fā)展的今天,應(yīng)用領(lǐng)域得到了進(jìn)一步的擴(kuò)展,這使得精密定位平臺(tái)的定位精度要求越來越高。因此,研究高精度的精密定位平臺(tái)有著非常重要的理論價(jià)值和實(shí)際意義。本文在以柔性并聯(lián)機(jī)構(gòu)為理論指導(dǎo)的基礎(chǔ)上,結(jié)合拓?fù)鋵W(xué)理論對(duì)于所設(shè)計(jì)的分布柔度式平面柔順機(jī)構(gòu)的綜合性能進(jìn)行分析,并設(shè)計(jì)控制器對(duì)分布柔度式平面柔順機(jī)構(gòu)動(dòng)平臺(tái)的跟蹤軌跡精度進(jìn)行控制。具體內(nèi)容如下:(1)以分布柔度式平面柔順機(jī)構(gòu)為研究對(duì)象。分別介紹了柔性并聯(lián)機(jī)構(gòu)與分布柔度式平面柔順機(jī)構(gòu)的特點(diǎn),通過閉環(huán)矢量法對(duì)分布柔度式平面柔順機(jī)構(gòu)的運(yùn)動(dòng)學(xué)進(jìn)行分析。運(yùn)用所得到的運(yùn)動(dòng)學(xué)方程,對(duì)機(jī)構(gòu)的工作空間進(jìn)行求解,獲得了分布柔度式平面柔順機(jī)構(gòu)末端執(zhí)行器所到點(diǎn)的集合,即為所求的工作空間。并且利用三維分析軟件對(duì)機(jī)構(gòu)的運(yùn)動(dòng)進(jìn)行仿真分析,結(jié)果證明了所選構(gòu)型運(yùn)動(dòng)學(xué)模型的有效性。(2)利用對(duì)柔性并聯(lián)機(jī)構(gòu)動(dòng)力學(xué)方程的求解方法,使用拉格朗日方法以及假設(shè)模態(tài)法對(duì)于分布柔度式平面柔順機(jī)構(gòu)的動(dòng)力學(xué)方程進(jìn)行求解。通過三維分析軟件對(duì)機(jī)構(gòu)進(jìn)行模態(tài)分析,得到機(jī)構(gòu)前三階模態(tài)的固有頻率與振型。結(jié)果表明在分布柔度式平面柔順機(jī)構(gòu)的動(dòng)力學(xué)模型的建立上是有效的。(3)基于分布柔度式平面柔順機(jī)構(gòu)的輸入輸出雅克比矩陣,設(shè)計(jì)了自抗擾控制器。將分布柔度式平面柔順機(jī)構(gòu)的動(dòng)力學(xué)耦合以及外界干擾視為總擾動(dòng),通過對(duì)擴(kuò)張狀態(tài)觀測(cè)器的設(shè)計(jì)對(duì)其進(jìn)行補(bǔ)償,并與機(jī)構(gòu)在傳統(tǒng)PID控制的條件下進(jìn)行對(duì)比。實(shí)現(xiàn)了分布柔度式平面柔順機(jī)構(gòu)的高精度控制。仿真結(jié)果表明自抗擾控制優(yōu)于傳統(tǒng)PID控制,滿足系統(tǒng)的性能要求,并證明了所設(shè)計(jì)控制器的可行性。(4)對(duì)于所設(shè)計(jì)的分布柔度式平面柔順機(jī)構(gòu)加工并進(jìn)行實(shí)驗(yàn)。得出了機(jī)構(gòu)的軌跡跟蹤位移曲線,并通過與機(jī)構(gòu)的理論值進(jìn)行對(duì)比分析,證明所設(shè)計(jì)的分布柔度式平面柔順機(jī)構(gòu)可實(shí)現(xiàn)亞微米級(jí)定位。
[Abstract]:Precision positioning technology is widely used. It plays an important role in the fields of nanotechnology, bioengineering, optical component positioning and so on.It is also the key technical support to ensure precision positioning.At the same time, with the development of science and technology, the application field of precision positioning technology has been further expanded, which makes the precision of precision positioning platform more and more demanding.Therefore, the research of high-precision precision positioning platform has very important theoretical value and practical significance.Based on the theory of flexible parallel mechanism and topology theory, this paper analyzes the comprehensive performance of the designed distributed flexibility planar compliant mechanism.A controller is designed to control the tracking accuracy of a distributed compliance planar compliant mechanism.The main contents are as follows: (1) the distributed flexibility planar compliant mechanism is taken as the object of study.The characteristics of flexible parallel mechanism and distributed flexibility planar compliant mechanism are introduced, and the kinematics of distributed compliance planar compliant mechanism is analyzed by means of closed loop vector method.By using the kinematics equation, the workspace of the mechanism is solved, and the set of points reached by the terminal actuator of the planar compliant mechanism with distributed flexibility is obtained, that is, the desired workspace.The kinematics of the mechanism is simulated by using three-dimensional analysis software. The results show that the kinematics model of the selected configuration is effective and the dynamic equation of the flexible parallel mechanism is solved by using the method of solving the dynamic equation of the flexible parallel mechanism.The Lagrangian method and the assumed mode method are used to solve the dynamic equations of the distributed compliance planar compliant mechanism.The natural frequency and mode shape of the first three modes of the mechanism are obtained by the modal analysis of the mechanism with 3D analysis software.The results show that the dynamic model of the distributed compliance planar compliant mechanism is effective. Based on the input and output Jacobis matrix of the distributed compliance plane compliant mechanism, an active disturbance rejection controller is designed.The dynamic coupling and external disturbance of the distributed compliance planar compliant mechanism are considered as total disturbances. The extended state observer is designed to compensate the mechanism and the mechanism is compared with the traditional PID control condition.The high precision control of distributed flexibility planar compliant mechanism is realized.The simulation results show that the ADRC is superior to the traditional PID control and meets the performance requirements of the system. The feasibility of the designed controller is proved.The trajectory tracking displacement curve of the mechanism is obtained and compared with the theoretical value of the mechanism. It is proved that the designed distributed flexibility planar compliant mechanism can achieve sub-micron positioning.
【學(xué)位授予單位】：江西理工大學(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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