發(fā)布時間：2018-04-05 23:30

  本文選題：球面并聯(lián)機構(gòu)　切入點：運動學　出處：《中北大學》2017年碩士論文

【摘要】：三自由度球面并聯(lián)機構(gòu)是少自由度并聯(lián)機構(gòu)的重要分支。動平臺上的參考點在球面上運動。由于其特殊的運動軌跡,可以應(yīng)用到具有球面要求的工作任務(wù)中,如:高精密的球面機械加工、航天航空的定位和測繪系統(tǒng)、仿生關(guān)節(jié)的結(jié)合處等。本文選擇3-PPR球面并聯(lián)機構(gòu)為研究對象,分別從理論角度和數(shù)值驗證角度研究該機構(gòu)運動學特性,為3-PPR球面并聯(lián)機構(gòu)的產(chǎn)品化提供理論依據(jù)。首先,利用3-PPR球面并聯(lián)機構(gòu)的結(jié)構(gòu)特點建立了矢量閉環(huán)方程,在靜坐標系中,對該球面并聯(lián)機構(gòu)中運動副的位置坐標進行了計算,給出了該機構(gòu)中各運動副的位置矢量,寫出3條支鏈的運動螺旋系,計算了并聯(lián)機構(gòu)的自由度,且與運動螺旋系的反螺旋系進行對比分析,驗證計算結(jié)果的正確性。其次,在該機構(gòu)每條支鏈的運動螺旋系的基礎(chǔ)上,利用螺旋理論推出反螺旋系建立約束子矩陣和運動子矩陣,再利用矩陣理論知識,對約束子矩陣和運動子矩陣組成的完整雅可比矩陣的秩進行考察計算,分析發(fā)生約束奇異和運動奇異的條件,討論發(fā)現(xiàn)該機構(gòu)不存在奇異位形。再次,對3-PPR球面并聯(lián)機構(gòu)中影響工作空間的因素進行分析,并給出影響因素的范圍。結(jié)合該機構(gòu)的運動正解方程,利用蒙特卡洛法搜索法,在Matlab中進行計算,求解出該球面并聯(lián)機構(gòu)的可達工作空間,并與該機構(gòu)的奇異性進行相互驗證,證明求解結(jié)果的正確性。然后,討論了少自由度并聯(lián)機構(gòu)影響系數(shù)的直接法。利用各支鏈的運動螺旋系,給出3-PPR球面并聯(lián)機構(gòu)的一階影響系數(shù)矩陣和二階影響系數(shù)矩陣,并且利用數(shù)值法和仿真法對該并聯(lián)機構(gòu)的一階影響系數(shù)矩陣和二階影響系數(shù)矩陣進行實例驗證,對比分析各方法的結(jié)果,驗證影響系數(shù)矩陣的正確性。對3-PPR球面并聯(lián)機構(gòu)建立模型進行仿真,通過改變驅(qū)動函數(shù)的設(shè)置,并對比分析不同模式下,恒速驅(qū)動和正弦驅(qū)動對3-PPR球面并聯(lián)機構(gòu)運動學的影響。最后,基于腳踝運動特性的研究和腳踝康復機理對機構(gòu)的要求,對3-PPR球面并聯(lián)機構(gòu)進行重新設(shè)計,規(guī)劃出腳踝處的運動軌跡,選擇適合的驅(qū)動模式,并給出示例進行仿真驗證,并對比腳踝運動特性和腳踝康復機理對機構(gòu)的要求,證明3-PPR球面并聯(lián)機構(gòu)應(yīng)用在腳踝康復機器人中的可行性。
[Abstract]:Three degree of freedom spherical parallel mechanism is an important branch of low degree of freedom parallel mechanism.The reference points on the moving platform move on the sphere.Because of its special motion trajectory, it can be applied to work tasks with spherical requirements, such as: high precision spherical machining, aerospace positioning and mapping system, biomimetic joint joint, etc.In this paper, the kinematics of 3-PPR spherical parallel mechanism is studied from the point of view of theory and numerical verification, which provides a theoretical basis for the production of 3-PPR spherical parallel mechanism.Firstly, the vector closed loop equation is established by using the structural characteristics of the 3-PPR spherical parallel mechanism. In the static coordinate system, the position coordinates of the kinematic pairs in the spherical parallel mechanism are calculated, and the position vectors of the kinematic pairs in the mechanism are given.The degree of freedom of the parallel mechanism is calculated and compared with the inverse helical system of the kinematic helical system, and the correctness of the calculation results is verified by writing out the kinematic helical system of the three branched chains and calculating the degree of freedom of the parallel mechanism.Secondly, on the basis of the kinematic helical system of each branch chain of the mechanism, the inverse spiral system is derived by using the helical theory to establish the constraint submatrix and the kinematic submatrix, and then the knowledge of matrix theory is used.The rank of the complete Jacobian matrix composed of constrained submatrix and motion submatrix is investigated and calculated. The conditions for the occurrence of constrained singularity and motion singularity are analyzed. It is found that there is no singular configuration in the mechanism.Thirdly, the factors affecting workspace in 3-PPR spherical parallel mechanism are analyzed, and the range of influencing factors is given.Combined with the forward kinematic equation of the mechanism and the Monte Carlo search method, the reachable workspace of the spherical parallel mechanism is calculated in Matlab, and the singularity of the mechanism is proved to be correct.Then, the direct method of the influence coefficient of the small degree of freedom parallel mechanism is discussed.The first order influence coefficient matrix and the second order influence coefficient matrix of 3-PPR spherical parallel mechanism are given by using the kinematic helical system of each branch chain.The first order and second order influence coefficient matrices of the parallel mechanism are verified by numerical method and simulation method. The results of each method are compared and analyzed to verify the correctness of the influence coefficient matrix.The model of 3-PPR spherical parallel mechanism is simulated and the effect of constant speed drive and sinusoidal drive on the kinematics of 3-PPR spherical parallel mechanism is analyzed by changing the setting of driving function.Finally, based on the research of ankle motion characteristics and the requirements of ankle rehabilitation mechanism, the 3-PPR spherical parallel mechanism is redesigned, the motion trajectory of the ankle is planned, the suitable driving mode is selected, and an example is given to verify the simulation.By comparing the ankle motion characteristics and the mechanism of ankle rehabilitation, the feasibility of applying 3-PPR spherical parallel mechanism to ankle rehabilitation robot is proved.
【學位授予單位】：中北大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TH112;TH789

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