本文選題：并聯(lián)機(jī)構(gòu) + 3-PRC　； 參考：《中北大學(xué)》2017年碩士論文

【摘要】：三自由度并聯(lián)機(jī)構(gòu)是并聯(lián)機(jī)構(gòu)學(xué)中的重要分支之一,與六自由度并聯(lián)機(jī)構(gòu)相比,該類并聯(lián)機(jī)構(gòu)有運(yùn)動支鏈少、承載能力高以及較易控制等優(yōu)點(diǎn),在微電子、高精度加工中以及醫(yī)療器械等領(lǐng)域得到廣泛應(yīng)用。本文以空間3-PRC三平移并聯(lián)機(jī)構(gòu)為研究對象,主要對3-PRC并聯(lián)機(jī)構(gòu)進(jìn)行運(yùn)動學(xué)、動力學(xué)以及虛擬樣機(jī)的仿真研究。首先,基于旋量理論,分析了3-PRC并聯(lián)機(jī)構(gòu)的自由度,驗證了其動平臺的輸出運(yùn)動為三維平移運(yùn)動;根據(jù)3-PRC并聯(lián)機(jī)構(gòu)的幾何約束關(guān)系建立了位置正解和位置反解方程,數(shù)值驗證了位置正解、反解的正確性;在位置解的基礎(chǔ)上,用運(yùn)動影響系數(shù)法對速度和加速度的變化規(guī)律進(jìn)行了分析;運(yùn)用Jacobian代數(shù)法對奇異性進(jìn)行了分析,得出了出現(xiàn)正向奇異和反向奇異時桿件間的位置關(guān)系。第二,基于位置反解及幾何約束條件,用數(shù)值搜索法編程出3-PRC并聯(lián)機(jī)構(gòu)的工作空間,用MATLAB軟件中SimMechanics模塊進(jìn)行了運(yùn)動仿真,以驗證了工作空間求解的正確性;最后分析了驅(qū)動滑移桿與靜平臺的夾角對工作空間的影響。第三,用凱恩方程法建立了質(zhì)點(diǎn)系和剛體的凱恩方程,動力學(xué)建模求得了該機(jī)構(gòu)各桿件的廣義速度與偏速度,構(gòu)建出了3-PRC并聯(lián)機(jī)構(gòu)的動力學(xué)凱恩方程。第四,用三維建模Pro/E軟件和ADAMS軟件創(chuàng)建了3-PRC并聯(lián)機(jī)構(gòu)的虛擬樣機(jī)模型,對其進(jìn)行了運(yùn)動學(xué)仿真,在ADAMS后處理模塊中測得了動平臺末端參考點(diǎn)的位移、速度及加速度變化曲線圖;對3-PRC并聯(lián)機(jī)構(gòu)進(jìn)行了動力學(xué)仿真,得出了消耗功率和驅(qū)動力的變化規(guī)律,為電機(jī)的選型提供理論指導(dǎo)。最后,用Pro/E軟件與ANSYS Workbench軟件,對3-PRC并聯(lián)機(jī)構(gòu)進(jìn)行了有限元分析,確定了動平臺處于兩種位姿時機(jī)構(gòu)中變形和所受應(yīng)力最大部位,找到了整體結(jié)構(gòu)中的薄弱地方。
[Abstract]:Three-DOF parallel mechanism is one of the important branches of parallel mechanism. Compared with 6-DOF parallel mechanism, this kind of parallel mechanism has the advantages of less kinematic branching chain, higher load-carrying capacity and easier control. High-precision machining and medical devices and other fields have been widely used. In this paper, the 3-PRC three-translational parallel mechanism is taken as the research object, and the kinematics, dynamics and virtual prototype of the 3-PRC parallel mechanism are studied. Firstly, based on the spinor theory, the degree of freedom of 3-PRC parallel mechanism is analyzed, which verifies that the output motion of the moving platform is a three-dimensional translational motion, and the forward and inverse position equations are established according to the geometric constraints of the 3-PRC parallel mechanism. Numerical results show that the positive and inverse solutions are correct. On the basis of the position solutions, the law of velocity and acceleration is analyzed by the method of motion influence coefficient, and the singularity is analyzed by Jacobian algebraic method. The position relationship between the bars with positive singularity and reverse singularity is obtained. Secondly, based on the position inverse solution and geometric constraints, the workspace of 3-PRC parallel mechanism is programmed by numerical search method, and the kinematic simulation is carried out with SimMechanics module in MATLAB software to verify the correctness of the workspace solution. Finally, the influence of the angle between the driving slip rod and the static platform on the workspace is analyzed. Thirdly, the Kane equations of particle system and rigid body are established by using the Kane equation method. The generalized velocity and partial velocity of each member of the mechanism are obtained by dynamic modeling, and the dynamic Kane equation of 3-PRC parallel mechanism is constructed. Fourthly, the virtual prototype model of 3-PRC parallel mechanism is created by using the software Prop / E and Adams, and the kinematics simulation is carried out. The displacement, velocity and acceleration curves of the reference point at the end of the moving platform are measured in the Adams post-processing module. The dynamic simulation of 3-PRC parallel mechanism is carried out, and the variation law of power consumption and driving force is obtained, which provides theoretical guidance for motor selection. Finally, using Pro-E software and ANSYS Workbench software, the finite element analysis of 3-PRC parallel mechanism is carried out, the maximum deformation and stress of the mechanism are determined when the moving platform is in two positions, and the weak place in the whole structure is found.
【學(xué)位授予單位】：中北大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TH112

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