本文選題：平面機(jī)構(gòu) + 靜態(tài)誤差　； 參考：《哈爾濱工業(yè)大學(xué)》2017年碩士論文

【摘要】：隨著高科技的快速發(fā)展,航空航天工業(yè)、精密機(jī)械、醫(yī)療器械和工業(yè)自動化等行業(yè)對機(jī)構(gòu)的位置精度有了更高的要求,特別是高速、高精度和高可靠性場合,機(jī)構(gòu)的定位精度是衡量其工作性能的重要指標(biāo)之一。關(guān)節(jié)間隙容易引起運動副元素的碰撞、摩擦和磨損,降低機(jī)構(gòu)的定位精度和運行穩(wěn)定性。因此,考慮機(jī)械系統(tǒng)中的關(guān)節(jié)間隙,本文以平面2R開環(huán)和5R閉環(huán)機(jī)構(gòu)為研究對象,從不同的角度深入研究關(guān)節(jié)間隙對機(jī)構(gòu)定位誤差和動力學(xué)特性的影響,為機(jī)構(gòu)可靠性分析、定位誤差的補償?shù)忍峁├碚摶A(chǔ)。本文主要包括以下內(nèi)容:針對從運動學(xué)角度考慮關(guān)節(jié)間隙的平面機(jī)構(gòu),建立了平面2R開環(huán)和5R閉環(huán)機(jī)構(gòu)的運動學(xué)誤差分析模型。將轉(zhuǎn)動關(guān)節(jié)間隙看作成無質(zhì)量桿,利用幾何法,分別推導(dǎo)出了兩個機(jī)構(gòu)末端執(zhí)行器的定位誤差公式,以誤差指數(shù)作為機(jī)構(gòu)定位精度的評價指標(biāo),通過Matlab仿真出了機(jī)構(gòu)末端點定位誤差在工作區(qū)間內(nèi)的變化規(guī)律。針對靜力和慣性力作用下考慮關(guān)節(jié)間隙的平面機(jī)構(gòu),建立了考慮關(guān)節(jié)間隙的平面2R開環(huán)和5R閉環(huán)機(jī)構(gòu)的誤差分析模型。對兩個機(jī)構(gòu)分別進(jìn)行了靜力學(xué)分析,用牛頓-歐拉法建立了兩個機(jī)構(gòu)的動力學(xué)方程,求解出了各關(guān)節(jié)的約束反力;建立了轉(zhuǎn)動關(guān)節(jié)局部誤差模型,運用虛功原理建立了末端執(zhí)行器定位誤差和局部誤差的映射關(guān)系,通過Matlab仿真分析了兩個機(jī)構(gòu)分別在靜力和慣性力作用下的定位誤差在位形空間上的分布情況。針對關(guān)節(jié)間隙引起的運動副元素的碰撞和摩擦現(xiàn)象,建立了轉(zhuǎn)動關(guān)節(jié)間隙的矢量模型和數(shù)學(xué)模型,引入碰撞力和摩擦力模型,利用拉格朗日乘子法分別建立了考慮間隙的平面2R開環(huán)和5R閉環(huán)機(jī)構(gòu)的動力學(xué)模型,通過Matlab仿真分析了不同的間隙尺寸和關(guān)節(jié)轉(zhuǎn)速對兩個機(jī)構(gòu)動力學(xué)特性的影響。以位置誤差和速度振蕩可靠指數(shù)作為機(jī)構(gòu)運動精度的評價指標(biāo),分析了不同的關(guān)節(jié)間隙和關(guān)節(jié)轉(zhuǎn)速對平面兩個機(jī)構(gòu)運動精度的影響。
[Abstract]:With the rapid development of high-tech, the aerospace industry, precision machinery, medical devices and industrial automation industries have higher requirements for the accuracy of the position of the organization, especially in high-speed, high-precision and high-reliability situations. The positioning accuracy of the mechanism is one of the important indexes to measure its working performance. The joint clearance can easily cause collision, friction and wear of the moving pair elements, and reduce the positioning accuracy and operation stability of the mechanism. Therefore, considering the joint clearance in the mechanical system, this paper takes the planar 2R open-loop and 5R closed-loop mechanism as the research objects, and studies the effect of the joint clearance on the positioning error and dynamic characteristics of the mechanism from different angles, which is the reliability analysis of the mechanism. The compensation of positioning error provides the theoretical basis. The main contents of this paper are as follows: the kinematics error analysis models of planar mechanisms with planar 2R open loop and 5R closed loop are established for the planar mechanism which considers the joint clearance from the kinematics point of view. The rotation joint clearance is regarded as a mass free rod. By using geometric method, the positioning error formulas of the end actuators of two mechanisms are derived, and the error index is taken as the evaluation index of the positioning accuracy of the mechanism. Through Matlab simulation, the change rule of the end point positioning error in the working interval is obtained. An error analysis model for planar mechanisms with joint clearance under static and inertial forces is established, in which the planar 2R open-loop and 5R closed-loop mechanisms consider the joint clearance. The static analysis of the two mechanisms is carried out, the dynamic equations of the two mechanisms are established by Newton-Euler method, the constrained reaction forces of each joint are solved, and the local error model of the rotational joint is established. The mapping relationship between the positioning error and the local error of the end effector is established by using the virtual work principle. The distribution of the positioning error in the configuration space of the two mechanisms under the action of static force and inertial force is analyzed by Matlab simulation. Aiming at the collision and friction of moving pair caused by joint clearance, the vector model and mathematical model of rotational joint clearance are established, and the collision force and friction model are introduced. The dynamic models of planar 2R open-loop and 5R closed-loop mechanisms with clearance are established by using Lagrange multiplier method, respectively. The effects of different clearance sizes and joint rotational speeds on the dynamic characteristics of the two mechanisms are analyzed by Matlab simulation. Based on the position error and reliability index of velocity oscillation, the effects of different joint clearance and rotation speed on the kinematic accuracy of two planar mechanisms are analyzed.
【學(xué)位授予單位】：哈爾濱工業(yè)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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