本文選題：并聯(lián)機構　切入點：動力學　出處：《哈爾濱工業(yè)大學》2017年碩士論文

【摘要】：武器裝備的性能、臨戰(zhàn)狀態(tài)、可靠性試驗、設備驗收以及作戰(zhàn)性能評估主要通過力學環(huán)境測試來完成。力學環(huán)境模擬實驗臺就是為武器裝備提供相應的力學環(huán)境(如噪音、振動、搖擺、空間微重力以及碰撞)的設備。并聯(lián)機構相對串聯(lián)機構因為其機構簡單緊湊、剛度大、無累積誤差、精度高和承載能力強而在運動環(huán)境模擬方面得到了廣泛應用。本文提出了一種折頁式三自由度并聯(lián)機構用于搖擺模擬,其具有承載能力強、運動范圍大、剛度高等優(yōu)點。鑒于它的這些優(yōu)點,因此,有必要對它的結構、運動學、動力學、頻率特性等基礎理論進行研究,以便更快地實現(xiàn)工業(yè)應用。該折頁式三自由度并聯(lián)機構存在三個自由度的伴隨運動和折頁結構,導致機構分析變得復雜,其約束方程分為兩種方式產生:折頁長度約束和機構結構約束。針對這些問題,本文首先提出一種投影支鏈坐標系法用于機構運動學建模�；诖朔椒�,使得運動學分析的計算過程得到大大簡化,并將機構所有的構件的速度和加速度都表達為雅可比矩陣及其一階導的組合結果,形式統(tǒng)一規(guī)整。然后,本文提出一種新的雅可比矩陣一階導數(shù)的求解方法,該方法減少了計算量且便于程序實現(xiàn)。最后,基于Kane方法完成了機構的多剛體建模,通過這三個方面的建模使得機構的運動學和動力學模型獨具有規(guī)整統(tǒng)一的形式,從而將機構動力學分析歸結為:構建約束方程、求解雅克比矩陣及其一階導和帶入動力學方程這三個程式化過程。建立并聯(lián)機構的模型并不是機構分析的最終目的,我們期望通過動力學模型完成機構特性分析、結構優(yōu)化以及控制系統(tǒng)設計。因此,為了完成機構的優(yōu)化,本文首先提出了并聯(lián)機構的性能評價指標,如靈巧性、力傳遞特性、可達空間等。針對機構的可達空間這一性能指標,本文首先分析了結構參數(shù)對機構處于中位的可達空間邊界的影響,并給出機構大范圍運動的合適的結構參數(shù)范圍。然后,研究了極限位姿下的雅可比矩陣條件數(shù)和作動器靜態(tài)力的關系,給出了機構容易發(fā)生奇異的判斷條件。最后,基于前述的結構參數(shù)圍,以作動器最大行程、最大出力和結構緊湊為目標完成了機構結構參數(shù)優(yōu)化過程,并對優(yōu)化的結構參數(shù)進行了分析。當少自由度并聯(lián)機構選擇不同的廣義速度建模時,發(fā)現(xiàn)其固有頻率模型的維度并不同。為了清晰認識該問題,首先,本文在前面的結構參數(shù)的基礎上設計了該并聯(lián)機構的液壓動力機構。然后,建立不同廣義速度下的固有頻率模型。最后,完成固有頻率相關分析。多剛體動力學模型驗證和固有頻率模型驗證分別在Sim Mechanics和Adams環(huán)境下完成驗證。
[Abstract]:Weapon performance, combat condition, reliability test, equipment acceptance and combat performance evaluation are mainly accomplished by mechanical environment test.The mechanical environment simulation bench is a kind of equipment that provides the corresponding mechanical environment (such as noise, vibration, swing, space microgravity and collision) for weapon equipment.The parallel mechanism is widely used in the simulation of motion environment because of its simple and compact structure, high stiffness, no cumulative error, high precision and strong bearing capacity.In this paper, a folding 3-DOF parallel mechanism is proposed for rocking simulation, which has the advantages of strong bearing capacity, wide range of motion and high stiffness.In view of these advantages, it is necessary to study the basic theories of its structure, kinematics, dynamics, frequency characteristics and so on, in order to realize industrial application more quickly.There are three degrees of freedom adjoint motion and folding structure of the three degree of freedom parallel mechanism, which makes the analysis of the mechanism become more complicated, and the constraint equation can be divided into two ways: length constraint and structure constraint.In order to solve these problems, a projective branch chain coordinate system method is proposed for kinematic modeling of mechanism.Based on this method, the computational process of kinematics analysis is greatly simplified, and the velocity and acceleration of all components of the mechanism are expressed as the combined results of Jacobian matrix and its first order derivation.Then, a new method for solving the first derivative of Jacobian matrix is proposed.Finally, based on the Kane method, the multi-rigid-body modeling of the mechanism is completed. The kinematics and dynamics model of the mechanism has a unique and uniform form through the modeling of these three aspects, and the dynamic analysis of the mechanism is reduced to: constructing the constraint equation.Three formulaic processes of solving Jacobian matrix and its first order derivation and introducing dynamic equations.Establishing the model of parallel mechanism is not the ultimate purpose of mechanism analysis. We expect to complete the mechanism characteristic analysis, structure optimization and control system design through dynamic model.Therefore, in order to achieve the optimization of the mechanism, the performance evaluation indexes of the parallel mechanism, such as dexterity, force transfer characteristics, reachable space and so on, are put forward in this paper.Aiming at the performance index of the reachable space of the mechanism, this paper first analyzes the influence of the structural parameters on the boundary of the reachable space in the middle position of the mechanism, and gives the suitable range of the structural parameters for the large range motion of the mechanism.Then, the relation between the Jacobian matrix condition number and the actuator static force under the limit position and pose is studied, and the judgement condition of the mechanism being prone to singularity is given.Finally, based on the structural parameter circumference mentioned above, the optimization process of the mechanism structural parameters is completed with the aim of maximum stroke, maximum output force and compact structure of the actuator, and the optimized structural parameters are analyzed.It is found that the dimensions of the natural frequency model are different when different generalized velocity models are selected for the small degree of freedom parallel mechanism.In order to understand the problem clearly, firstly, the hydraulic power mechanism of the parallel mechanism is designed based on the structural parameters.Then, the natural frequency model with different generalized velocities is established.Finally, the inherent frequency correlation analysis is completed.The multi-rigid body dynamic model verification and the natural frequency model verification are carried out in Sim Mechanics and Adams environment, respectively.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TJ06;TH112

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