【摘要】：與串聯(lián)機(jī)構(gòu)相比,并聯(lián)機(jī)構(gòu)的承載力高、運(yùn)動(dòng)精度高、機(jī)構(gòu)剛度大、誤差均化。在隔震、精密指向、運(yùn)動(dòng)模擬等諸多領(lǐng)域內(nèi)并聯(lián)機(jī)構(gòu)都取得了廣泛的應(yīng)用。對(duì)并聯(lián)機(jī)構(gòu)的解耦研究至關(guān)重要。解耦研究可從結(jié)構(gòu)解耦設(shè)計(jì)及控制策略研究?jī)煞矫孢M(jìn)行入手,本文研究機(jī)構(gòu)構(gòu)型由復(fù)合單葉雙曲面描述的廣義并聯(lián)機(jī)構(gòu),對(duì)廣義并聯(lián)機(jī)構(gòu)從解耦設(shè)計(jì)、結(jié)構(gòu)優(yōu)化、控制策略到實(shí)驗(yàn)驗(yàn)證等方面進(jìn)行了研究。對(duì)廣義并聯(lián)機(jī)構(gòu)構(gòu)型分類、解耦定義及方法進(jìn)行論述,基于解耦條件,給出廣義并聯(lián)機(jī)構(gòu)復(fù)合解耦算法,該算法能求解廣義并聯(lián)機(jī)構(gòu)沿Z軸平動(dòng)及轉(zhuǎn)動(dòng)時(shí)構(gòu)型調(diào)整方式,即下鉸點(diǎn)調(diào)整軌跡,此時(shí)機(jī)構(gòu)將保持解耦。據(jù)此提出機(jī)構(gòu)可重構(gòu)機(jī)理及全域低耦合思想,為設(shè)計(jì)全域低耦合廣義并聯(lián)機(jī)構(gòu)提供依據(jù)。針對(duì)所提出全域低耦合廣義并聯(lián)機(jī)構(gòu)進(jìn)行結(jié)構(gòu)優(yōu)化設(shè)計(jì),優(yōu)化指標(biāo)選擇雅可比條件數(shù),基于粒子群算法對(duì)全域低耦合廣義并聯(lián)機(jī)構(gòu)進(jìn)行了結(jié)構(gòu)優(yōu)化,所得到的機(jī)構(gòu)構(gòu)型在所限定的情況下條件數(shù)最小。進(jìn)一步對(duì)廣義并聯(lián)機(jī)構(gòu)進(jìn)行全域耦合數(shù)值評(píng)價(jià),論證可重構(gòu)機(jī)理在設(shè)計(jì)全域低耦合廣義并聯(lián)機(jī)構(gòu)的有效性。從控制策略上對(duì)廣義并聯(lián)機(jī)構(gòu)的解耦控制進(jìn)行研究。首先對(duì)廣義并聯(lián)機(jī)構(gòu)進(jìn)行模態(tài)分析,求解出其模態(tài)參數(shù)。通過仿真分析,探究機(jī)構(gòu)構(gòu)型、工作空間及模態(tài)控制對(duì)機(jī)構(gòu)解耦的共同影響,分析模態(tài)控制改善機(jī)構(gòu)解耦的程度。搭建了實(shí)驗(yàn)樣機(jī),在實(shí)驗(yàn)樣機(jī)上進(jìn)行了廣義并聯(lián)機(jī)構(gòu)低耦合實(shí)驗(yàn)驗(yàn)證,實(shí)驗(yàn)分析廣義并聯(lián)機(jī)構(gòu)在不同位置的時(shí)域和頻域特性,以及比較重構(gòu)和非重構(gòu)情況對(duì)各自由度價(jià)交叉耦合的影響。通過實(shí)驗(yàn)驗(yàn)證了重構(gòu)算法的有效性,證明了基于復(fù)合解耦算法的廣義并聯(lián)機(jī)構(gòu)的全域低耦合性能。
[Abstract]:Compared with the series mechanism, the parallel mechanism has the advantages of high bearing capacity, high kinematic precision, large stiffness and homogenization of error. Parallel mechanisms have been widely used in isolation, precision pointing, motion simulation and many other fields. It is very important to study the decoupling of parallel mechanism. The study of decoupling can be carried out from two aspects of structural decoupling design and control strategy. In this paper, the configuration of the generalized parallel mechanism described by the compound single leaf hyperboloid is studied, and the decoupling design and structure optimization of the generalized parallel mechanism are presented. The control strategy and experimental verification are studied. The configuration classification, decoupling definition and method of the generalized parallel mechanism are discussed. Based on the decoupling condition, the compound decoupling algorithm of the generalized parallel mechanism is presented. The algorithm can solve the configuration adjustment method of the generalized parallel mechanism when it moves and rotates along the Z axis. That is, the lower hinge adjustment trajectory, this time the mechanism will remain decoupled. Based on this, the reconfigurable mechanism of the mechanism and the idea of global low coupling are proposed, which provides the basis for the design of the universal low coupling generalized parallel mechanism. Based on particle swarm optimization (PSO), this paper optimizes the structure of the global low-coupling generalized parallel mechanism by selecting Jacobian condition number as the optimization index, aiming at the structure optimization design of the proposed global low-coupling generalized parallel mechanism. The obtained mechanism configuration is the smallest in the defined conditions. Furthermore, the global coupling numerical evaluation of the generalized parallel mechanism is carried out to demonstrate the effectiveness of the reconfigurable mechanism in the design of the universal low coupling generalized parallel mechanism. The decoupling control of generalized parallel mechanism is studied in terms of control strategy. First, the modal analysis of the generalized parallel mechanism is carried out, and the modal parameters are solved. Through the simulation analysis, the influence of mechanism configuration, workspace and modal control on mechanism decoupling is explored, and the degree of improving mechanism decoupling by modal control is analyzed. The experiment prototype is built, and the low coupling experiment of the generalized parallel mechanism is carried out on the experimental prototype. The characteristics of the generalized parallel mechanism in time domain and frequency domain are analyzed experimentally. The effects of reconfiguration and non-reconfiguration on the valence cross-coupling of each degree of freedom are compared. The validity of the reconstruction algorithm is verified by experiments, and the global low coupling performance of the generalized parallel mechanism based on compound decoupling algorithm is proved.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TH112

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本文編號(hào)：2183997