幾類少自由度冗余驅(qū)動并聯(lián)機(jī)構(gòu)綜合及優(yōu)選研究
發(fā)布時(shí)間：2018-07-13 17:09
【摘要】：并聯(lián)機(jī)構(gòu)由于相對串聯(lián)機(jī)構(gòu)具有更高的精度、剛度和承載能力等優(yōu)點(diǎn),特別是少自由度并聯(lián)機(jī)構(gòu),在諸多領(lǐng)域具有廣泛的應(yīng)用前景。然而并聯(lián)機(jī)構(gòu)也具有工作空間小且存在奇異等缺點(diǎn),限制了其應(yīng)用。采用冗余驅(qū)動的并聯(lián)機(jī)構(gòu)可減少或消除一些常規(guī)并聯(lián)機(jī)構(gòu)無法避免的缺點(diǎn),同時(shí)又不減弱原并聯(lián)機(jī)構(gòu)的優(yōu)點(diǎn)。但現(xiàn)有的冗余驅(qū)動并聯(lián)機(jī)構(gòu)的研究更多是對單個(gè)機(jī)構(gòu)的研究,還缺乏對冗余并聯(lián)機(jī)構(gòu)新構(gòu)型的系統(tǒng)綜合。因此,本文以少自由度冗余驅(qū)動并聯(lián)機(jī)構(gòu)為研究對像,研究了該類型機(jī)構(gòu)的綜合方法,并優(yōu)選了部分新機(jī)型。提出了一種基于克萊因映射理論的線矢相關(guān)性判斷方法,將射影幾何理論引入到并聯(lián)機(jī)構(gòu)的奇異研究理論分析中,得出力線矢與力偶任意組合時(shí)發(fā)生線性相關(guān)性通用計(jì)算公式及線矢空間的幾何關(guān)系,得到了可用于判斷任意力線矢與力偶組合的線性相關(guān)性的方法。利用該方法對幾類少自由度并聯(lián)機(jī)構(gòu)的內(nèi)部奇異進(jìn)行分析,該方法為并聯(lián)機(jī)器人奇異理論研究提供了理論依據(jù),也是機(jī)構(gòu)優(yōu)選的理論依據(jù)。利用螺旋理論,提出一種冗余驅(qū)動并聯(lián)機(jī)構(gòu)機(jī)型構(gòu)造的新方法。對冗余驅(qū)動并聯(lián)機(jī)構(gòu)的冗余驅(qū)動支鏈的類型進(jìn)行綜合,并對支鏈安裝位置、安裝支鏈條數(shù)進(jìn)行了理論分析。綜合出3R、2T1R、3R1T、2R2T、3R2T和3T2R六類支鏈型冗余驅(qū)動并聯(lián)機(jī)構(gòu)的新機(jī)型,該新機(jī)型能夠有效降低并聯(lián)機(jī)構(gòu)在運(yùn)行過程中出現(xiàn)的非預(yù)期運(yùn)動,例如可以有效的規(guī)避奇異位形,還可以提高并聯(lián)機(jī)構(gòu)的驅(qū)動力、剛度及靈巧度等性能指標(biāo)。綜合出一類基于無約束支鏈的冗余驅(qū)動并聯(lián)機(jī)構(gòu),9種少自由度類型全部包括在內(nèi)。通過不同支鏈的約束組合及添加數(shù)量不同的無約束支鏈,構(gòu)造出了大量的冗余驅(qū)動并聯(lián)機(jī)構(gòu),如3-UPU/SPS,4-SPS/RZPZUXY,3-RPUR/SPS等冗余驅(qū)動并聯(lián)機(jī)構(gòu),這些機(jī)構(gòu)可以完全避免內(nèi)部奇異。利用構(gòu)造完整的雅可比滿秩矩陣綜合機(jī)構(gòu)的方法,可以計(jì)算出驅(qū)動螺旋以任意角度輸入時(shí),靈巧度、剛度的最小奇異值的力矩陣與力矩矩陣的通用計(jì)算公式。根據(jù)該方法可得到靈巧度與剛度性能最優(yōu)的冗余驅(qū)動支鏈組合,為冗余驅(qū)動并聯(lián)機(jī)構(gòu)性能優(yōu)選提供了理論依據(jù)。通過Ansys對綜合的冗余驅(qū)動支鏈并聯(lián)機(jī)構(gòu)進(jìn)行仿真,并運(yùn)用Matlab對冗余驅(qū)動支鏈的力矩陣與力矩矩陣的條件數(shù)進(jìn)行了求解,找到添加不同支鏈時(shí)并聯(lián)機(jī)構(gòu)的靈巧性的大小關(guān)系。通過理論與仿真研究,本文綜合出若干靈巧度與剛度最優(yōu)的冗余驅(qū)動并聯(lián)機(jī)構(gòu)新機(jī)型。
[Abstract]:The parallel mechanism has many advantages, such as higher precision, stiffness and bearing capacity than the series mechanism, especially the small degree of freedom parallel mechanism, so it has a wide application prospect in many fields. However, the parallel mechanism also has the disadvantages of small workspace and singularity, which limits its application. The redundant parallel mechanism can reduce or eliminate some disadvantages that can not be avoided by the conventional parallel mechanism, and at the same time, it can not weaken the advantages of the original parallel mechanism. However, the existing researches on redundant parallel mechanism are more about single mechanism and lack of system synthesis for the new configuration of redundant parallel mechanism. Therefore, in this paper, the synthesis method of this type of mechanism is studied, and some new models are selected. A linear vector correlation judgment method based on Klein mapping theory is proposed. The projective geometry theory is introduced into the singularity analysis of parallel mechanism. The general formula of linear correlation and the geometric relation of linear vector space are obtained when the combination of force line vector and couple is arbitrary, and the method can be used to judge the linear correlation of arbitrary force line vector and couple combination. This method is used to analyze the internal singularity of several kinds of parallel mechanisms with less degrees of freedom. This method provides a theoretical basis for the study of singularity theory of parallel manipulators and is also the theoretical basis for mechanism optimization. Based on spiral theory, a new method for the construction of redundant parallel mechanism is presented. This paper synthesizes the type of redundant driving branch chain of redundant drive parallel mechanism, and analyzes theoretically the position and number of branch chain. This paper synthesizes the new models of 3RN2T1R1R2R1Tn2R2T and 3T2R six kinds of redundant drive parallel mechanism. The new model can effectively reduce the unexpected movement of the parallel mechanism during operation, for example, it can avoid singularity effectively. It can also improve the driving force, stiffness and dexterity of parallel mechanism. A class of redundant drive parallel mechanisms based on unconstrained branching chains is synthesized. All of the nine types of less degrees of freedom are included. A large number of redundant parallel driven parallel mechanisms, such as 3-UPUP / SPSU 4-SPS / RZPZUXY / 3-RPURP / SPS, are constructed through constraint combinations of different branching chains and adding different numbers of unconstrained branched chains. These mechanisms can completely avoid internal singularity. By using the method of constructing a complete Jacobian full rank matrix synthesis mechanism, a general formula for calculating the force matrix and moment matrix of the minimum singular value of dexterity and stiffness when the driving screw is input at any angle can be calculated. According to this method, the optimal combination of dexterity and stiffness can be obtained, which provides a theoretical basis for the performance optimization of redundant drive parallel mechanism. The parallel mechanism is simulated by Ansys, and the condition number of force matrix and torque matrix of redundant drive branch chain is solved by using Matlab. The dexterity relationship of parallel mechanism is found when different branch chains are added. Through theoretical and simulation research, several new redundant drive parallel mechanism models with optimal dexterity and stiffness are synthesized in this paper.
【學(xué)位授予單位】：燕山大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2016
【分類號】：TH112
本文編號：2120127
[Abstract]:The parallel mechanism has many advantages, such as higher precision, stiffness and bearing capacity than the series mechanism, especially the small degree of freedom parallel mechanism, so it has a wide application prospect in many fields. However, the parallel mechanism also has the disadvantages of small workspace and singularity, which limits its application. The redundant parallel mechanism can reduce or eliminate some disadvantages that can not be avoided by the conventional parallel mechanism, and at the same time, it can not weaken the advantages of the original parallel mechanism. However, the existing researches on redundant parallel mechanism are more about single mechanism and lack of system synthesis for the new configuration of redundant parallel mechanism. Therefore, in this paper, the synthesis method of this type of mechanism is studied, and some new models are selected. A linear vector correlation judgment method based on Klein mapping theory is proposed. The projective geometry theory is introduced into the singularity analysis of parallel mechanism. The general formula of linear correlation and the geometric relation of linear vector space are obtained when the combination of force line vector and couple is arbitrary, and the method can be used to judge the linear correlation of arbitrary force line vector and couple combination. This method is used to analyze the internal singularity of several kinds of parallel mechanisms with less degrees of freedom. This method provides a theoretical basis for the study of singularity theory of parallel manipulators and is also the theoretical basis for mechanism optimization. Based on spiral theory, a new method for the construction of redundant parallel mechanism is presented. This paper synthesizes the type of redundant driving branch chain of redundant drive parallel mechanism, and analyzes theoretically the position and number of branch chain. This paper synthesizes the new models of 3RN2T1R1R2R1Tn2R2T and 3T2R six kinds of redundant drive parallel mechanism. The new model can effectively reduce the unexpected movement of the parallel mechanism during operation, for example, it can avoid singularity effectively. It can also improve the driving force, stiffness and dexterity of parallel mechanism. A class of redundant drive parallel mechanisms based on unconstrained branching chains is synthesized. All of the nine types of less degrees of freedom are included. A large number of redundant parallel driven parallel mechanisms, such as 3-UPUP / SPSU 4-SPS / RZPZUXY / 3-RPURP / SPS, are constructed through constraint combinations of different branching chains and adding different numbers of unconstrained branched chains. These mechanisms can completely avoid internal singularity. By using the method of constructing a complete Jacobian full rank matrix synthesis mechanism, a general formula for calculating the force matrix and moment matrix of the minimum singular value of dexterity and stiffness when the driving screw is input at any angle can be calculated. According to this method, the optimal combination of dexterity and stiffness can be obtained, which provides a theoretical basis for the performance optimization of redundant drive parallel mechanism. The parallel mechanism is simulated by Ansys, and the condition number of force matrix and torque matrix of redundant drive branch chain is solved by using Matlab. The dexterity relationship of parallel mechanism is found when different branch chains are added. Through theoretical and simulation research, several new redundant drive parallel mechanism models with optimal dexterity and stiffness are synthesized in this paper.
【學(xué)位授予單位】：燕山大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2016
【分類號】：TH112
【參考文獻(xiàn)】
相關(guān)期刊論文 前4條
1 付鐵;韓信;朱涯涯;丁洪生;;基于李群理論的2R1T并聯(lián)機(jī)構(gòu)構(gòu)型綜合[J];北京理工大學(xué)學(xué)報(bào);2014年11期
2 楊斌久;蔡光起;羅繼曼;朱春霞;;少自由度并聯(lián)機(jī)器人的研究現(xiàn)狀[J];機(jī)床與液壓;2006年05期
3 汪勁松,關(guān)立文,王立平,李鐵民;并聯(lián)機(jī)器人機(jī)構(gòu)構(gòu)型創(chuàng)新設(shè)計(jì)研究[J];機(jī)械工程學(xué)報(bào);2004年11期
4 馬履中,楊啟志,尹小琴,謝俊,朱曾,王福強(qiáng);仿橡膠多自由度彈性阻尼減振裝置研究[J];機(jī)械工程學(xué)報(bào);2004年01期
相關(guān)博士學(xué)位論文 前1條
1 李艷文;幾類空間并聯(lián)機(jī)器人的奇異研究[D];燕山大學(xué);2005年
相關(guān)碩士學(xué)位論文 前3條
1 屈秀坤;5-UPS/PRPU并聯(lián)機(jī)床冗余力控制理論與實(shí)驗(yàn)研究[D];燕山大學(xué);2013年
2 崔榮江;基于無約束支鏈的并聯(lián)機(jī)器人構(gòu)型綜合與運(yùn)動學(xué)分析[D];山東理工大學(xué);2012年
3 楊濤;平面2自由度驅(qū)動冗余并聯(lián)機(jī)構(gòu)運(yùn)動控制研究[D];中國石油大學(xué);2007年
，本文編號：2120127
本文鏈接：http://sikaile.net/jixiegongchenglunwen/2120127.html
最近更新
教材專著
