本文選題：模塊化 + 可重構(gòu)　； 參考：《青島科技大學(xué)》2017年碩士論文

【摘要】：少自由度并串結(jié)構(gòu)汲取了并聯(lián)和串聯(lián)兩種機(jī)構(gòu)的優(yōu)勢,不僅具有較大的工作空間,而且機(jī)構(gòu)剛度大、承載能力強(qiáng)。但是不同構(gòu)型的并串結(jié)構(gòu)一般只能完成特定的工作任務(wù),當(dāng)工作任務(wù)發(fā)生改變的時候,就要更換成相應(yīng)類型的結(jié)構(gòu)。為了解決這一難題,本文從模塊化的角度出發(fā),分析了常見少自由并串結(jié)構(gòu)的基本特征并對其進(jìn)行了分類和模塊化設(shè)計,進(jìn)而提出了一種新型模塊化可重構(gòu)少自由度并串結(jié)構(gòu),并從靜力學(xué)和動力學(xué)兩方面對它進(jìn)行了研究。首先,基于并聯(lián)機(jī)構(gòu)常用的綜合及分類方法,將常見的少自由度并聯(lián)機(jī)構(gòu)分成四類,并對每一類型的結(jié)構(gòu)進(jìn)行了詳細(xì)地分析,提取其特征。將組成并聯(lián)機(jī)構(gòu)的運動副分為基本運動副和和復(fù)合運動副兩大類,并分析了五種對模塊化結(jié)構(gòu)設(shè)計非常有用的復(fù)合運動副。分析了一系列具有確定運動特性的運動支鏈類型,包括簡單運動副支鏈類型、復(fù)合運動副支鏈類型以及具有確定運動特性的2-5自由度運動支鏈,為模塊化可重構(gòu)并聯(lián)機(jī)構(gòu)的研究奠定了基礎(chǔ)。其次,基于對常見少自由度并聯(lián)機(jī)構(gòu)結(jié)構(gòu)特征的分析,設(shè)計出固定平臺模塊、運動平臺模塊、運動副模塊、連接器模塊以及連桿模塊。通過運動副模塊、連接器模塊和連桿模塊構(gòu)造了一系列二至五自由度的運動支鏈。根據(jù)并聯(lián)機(jī)構(gòu)綜合理論,利用不同的模塊造出一系列模塊化并聯(lián)機(jī)構(gòu)。然后,提出一種新型模塊化可重構(gòu)少自由度并串結(jié)構(gòu),并對它的結(jié)構(gòu)特征進(jìn)行了詳細(xì)地分析。運用螺旋理論和修正的Kutzbach Grüble公式對該結(jié)構(gòu)的自由度進(jìn)行計算,得出它的自由度數(shù)為6。基于機(jī)構(gòu)影響系數(shù)法對該結(jié)構(gòu)的速度和加速度進(jìn)行理論推導(dǎo),得到它速度和加速度的數(shù)學(xué)模型。最后,運用三維制圖軟件Creo創(chuàng)建出虛擬樣機(jī)模型,利用數(shù)據(jù)接口將模型導(dǎo)入到工程分析軟件ANSYS和ADAMS中。通過對虛擬樣機(jī)模型進(jìn)行靜力學(xué)和運動學(xué)仿真,得到它的靜力學(xué)圖像以及工作平臺在不同參數(shù)設(shè)置下的速度、加速度變化曲線和位置變化圖,從而驗證了速度和加速度數(shù)學(xué)模型的正確性。本文所做的工作,為模塊化理念在少自由度并串結(jié)構(gòu)領(lǐng)域的運用打下了堅實的基礎(chǔ),對建立一套適用于模塊化可重構(gòu)少自由度并串結(jié)構(gòu)的系統(tǒng)理論具有重要意義。
[Abstract]:The low degree of freedom parallel structure absorbs the advantages of parallel mechanism and series mechanism. It not only has a large workspace but also has a large stiffness and a strong bearing capacity. However, the conjunctive structure of different configurations can only accomplish a specific task. When the task changes, it will be replaced by a corresponding type of structure. In order to solve this problem, this paper analyzes the basic characteristics of common few free parallel string structures from the angle of modularization, classifies them and designs them in modularization, and then proposes a new modular reconfigurable low degree of freedom parallel string structure. It is studied from static and dynamic aspects. Firstly, based on the common synthesis and classification methods of parallel mechanisms, the common parallel mechanisms with less degrees of freedom are divided into four categories, and each type of structure is analyzed in detail to extract its features. The kinematic pairs composed of parallel mechanism are divided into two categories: basic kinematic pair and composite kinematic pair. Five kinds of composite kinematic pairs which are very useful for modular structural design are analyzed. A series of kinematic branching chains with certain kinematic characteristics are analyzed, including simple kinematic pair branching chains, composite kinematic pair branching chains and 2-5-DOF kinematic branching chains with certain kinematic characteristics. It lays a foundation for the research of modular reconfigurable parallel mechanism. Secondly, based on the analysis of the structure characteristics of the common parallel mechanism with less degrees of freedom, the fixed platform module, the motion pair module, the connector module and the connecting rod module are designed. A series of two to five degrees of freedom motion chains are constructed by motion pair module, connector module and connecting rod module. According to the synthetic theory of parallel mechanism, a series of modular parallel mechanisms are built by using different modules. Then, a new modular reconfigurable parallel-string structure with less degrees of freedom is proposed, and its structural characteristics are analyzed in detail. The degree of freedom of the structure is calculated by using the helical theory and the modified Kutzbach Gr 眉 ble formula, and its number of degrees of freedom is 6. The velocity and acceleration of the structure are derived theoretically based on the mechanism influence coefficient method, and the mathematical model of the velocity and acceleration is obtained. Finally, the virtual prototype model is created by using the 3D drawing software Creo, and the model is imported into the engineering analysis software ANSYS and ADAMS by the data interface. Through statics and kinematics simulation of the virtual prototype model, the static image and the velocity, acceleration curve and position change diagram of the work platform under different parameters are obtained. Thus the correctness of the mathematical model of velocity and acceleration is verified. The work done in this paper lays a solid foundation for the application of modularization concept in the field of low degree of freedom parallel string structure, and is of great significance to the establishment of a set of system theory suitable for modular reconfigurable low degree of freedom parallel string structure.
【學(xué)位授予單位】：青島科技大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TH112

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