【摘要】：曲柄群驅(qū)動機(jī)構(gòu)是一種新型傳動機(jī)構(gòu),能夠?qū)崿F(xiàn)多個平行軸之間的同步傳動。本課題基于含間隙平面連桿機(jī)構(gòu)動力學(xué)理論與研究成果以及平面連桿機(jī)構(gòu)的平衡理論與研究,對含間隙曲柄群驅(qū)動機(jī)構(gòu)進(jìn)行了動力學(xué)研究。本課題對理想曲柄群驅(qū)動機(jī)構(gòu)進(jìn)行運動和受力分析,建立動力學(xué)模型；并對該機(jī)構(gòu)慣性力平衡問題進(jìn)行理論研究、虛擬仿真和實驗驗證。本課題還對含間隙曲柄群驅(qū)動機(jī)構(gòu)進(jìn)行動力學(xué)理論分析,建立基于連續(xù)接觸模型的動力學(xué)模型；利用虛擬仿真軟件ADAMS對比分析,得出間隙對該機(jī)構(gòu)的影響,并且提出控制該影響的方法。本課題主要內(nèi)容如下：(1)分析總結(jié)曲柄群驅(qū)動機(jī)構(gòu)由平行雙曲柄機(jī)構(gòu)組合演變而來的過程；在不考慮運動副間隙的前提下,對曲柄群驅(qū)動機(jī)構(gòu)的基本單元一一平行雙曲柄機(jī)構(gòu)進(jìn)行了運動和受力分析,建立動力學(xué)模型。在此基礎(chǔ)上,根據(jù)曲柄群驅(qū)動機(jī)構(gòu)由平行雙曲柄機(jī)構(gòu)組合演變而來的規(guī)律,遞進(jìn)推導(dǎo)出曲柄群驅(qū)動機(jī)構(gòu)動力平衡方程,建立動力學(xué)模型和數(shù)學(xué)模型,并介紹了動力學(xué)模型的求解方法。(2)采用經(jīng)典的平衡方法一一質(zhì)量替代法和線性獨立矢量法,分別形成針對曲柄群驅(qū)動機(jī)構(gòu)平面內(nèi)慣性力的平衡方法,并且推導(dǎo)出平衡所滿足的條件。以六個曲柄的曲柄群驅(qū)動機(jī)構(gòu)為算例,運用慣性力平衡方法,計算出平衡質(zhì)量的大小。通過動力學(xué)仿真軟件ADAMS仿真分析,對比平衡前后機(jī)構(gòu)總質(zhì)心位置,從而驗證了平衡理論的正確性,達(dá)到慣性力平衡的目的。(3)指出曲柄群驅(qū)動機(jī)構(gòu)是一種含冗余虛約束的多間隙機(jī)構(gòu)。對其基本單元一一含間隙平行雙曲柄機(jī)構(gòu)進(jìn)行運動和動力學(xué)分析,采用基于連續(xù)接觸模型的拉格朗日(Lagrange)法建立其動力學(xué)模型。遞進(jìn)地建立含間隙曲柄群驅(qū)動機(jī)構(gòu)的動力學(xué)模型,并對求解方法作以介紹。利用多體動力學(xué)仿真軟件ADAMS建立曲柄群驅(qū)動機(jī)構(gòu)虛擬仿真模型,對理想和含間隙、間隙半徑不同、曲柄轉(zhuǎn)速不同時動態(tài)特性對比分析,得出間隙對該機(jī)構(gòu)的影響,提出控制間隙造成的影響的方法。(4)實驗驗證曲柄群驅(qū)動機(jī)構(gòu)平面內(nèi)慣性力平衡理論。設(shè)計制造實驗平臺,采用壓電式加速度傳感器,測量機(jī)構(gòu)運轉(zhuǎn)中加速度的波動情況,利用DH5922N通用型動態(tài)信號測試分析系統(tǒng)采集并分析所得到的數(shù)據(jù)。對比平衡前后機(jī)構(gòu)加速度變化情況,驗證平衡理論。本課題的創(chuàng)新點在于：(1)從“單元”到“整體”的研究方法。根據(jù)曲柄群驅(qū)動機(jī)構(gòu)可由平行雙曲柄機(jī)構(gòu)組合演變而來的特點,先研究其基本單元一一平行雙曲柄,再通過遞進(jìn)推導(dǎo)的方法研究整個曲柄群驅(qū)動機(jī)構(gòu)；(2)雙路線,層層對比的思路。對比研究不考慮間隙和含間隙的曲柄群驅(qū)動機(jī)構(gòu),通過仿真和實驗橫向和縱向的層層對比,驗證結(jié)果的正確性。
[Abstract]:Crank group drive mechanism is a new type of transmission mechanism, which can realize synchronous transmission between parallel shafts. Based on the dynamic theory and research results of planar linkage mechanism with clearance and the balance theory and research of planar linkage mechanism, the dynamics of crank group driving mechanism with clearance is studied in this paper. In this paper, the motion and force of the ideal crank group driving mechanism are analyzed, the dynamic model is established, and the inertial force balance problem of the mechanism is studied in theory, virtual simulation and experimental verification. The dynamic theory analysis of crank group driving mechanism with clearance is carried out, and the dynamic model based on continuous contact model is established, and the influence of clearance on the mechanism is obtained by comparing and analyzing the virtual simulation software ADAMS. A method to control the influence is also proposed. The main contents of this paper are as follows: (1) analyze and summarize the evolution process of crank group driving mechanism from parallel double crank mechanism combination, without considering the clearance of motion pair, The basic unit of crank group driving mechanism, parallel double crank mechanism, is analyzed in motion and force, and the dynamic model is established. On this basis, according to the law that the crank group drive mechanism evolves from the parallel double crank mechanism combination, the dynamic balance equation of the crank group driving mechanism is derived, and the dynamic model and mathematical model are established. The method of solving the dynamic model is introduced. (2) the classical balance method, mass substitution method and linear independent vector method are used to form the balance method for the inertia force in the plane of the crank group driving mechanism. And the conditions of equilibrium are deduced. Taking the crank group drive mechanism of six crank as an example, the size of the balance mass is calculated by using the inertial force balance method. Through the simulation analysis of dynamics simulation software ADAMS, the position of the total center of mass of the mechanism before and after balancing is compared, which verifies the correctness of the balance theory. The purpose of inertial force balance is achieved. (3) it is pointed out that the crank group drive mechanism is a kind of multi-clearance mechanism with redundant virtual constraints. The kinematics and dynamics of the basic element parallel double crank mechanism with clearance are analyzed. The Lagrangian (Lagrange) method based on continuous contact model is used to establish its dynamic model. The dynamic model of crank group driving mechanism with clearance is established step by step, and the solving method is introduced. The virtual simulation model of crank group driving mechanism is established by using multi-body dynamics simulation software ADAMS. The effects of clearance on the mechanism are compared and analyzed for ideal and different gap radius and different dynamic characteristics of crank rotational speed. A method for controlling the effect of clearance is proposed. (4) the theory of inertial force balance in the plane of crank group driven mechanism is verified by experiments. The experimental platform is designed and manufactured. The piezoelectric acceleration sensor is used to measure the acceleration fluctuation in the operation of the mechanism. The data obtained are collected and analyzed by using the DH5922N universal dynamic signal test and analysis system. Comparing the acceleration change of the mechanism before and after balancing, the balance theory is verified. The innovation of this thesis lies in: (1) the research method from "unit" to "whole". According to the characteristic that crank group drive mechanism can evolve from parallel double crank mechanism, the basic unit of crank group driving mechanism, parallel double crank mechanism, is studied first, and then the whole crank group driving mechanism is studied by the method of stepwise derivation. (2) double route, Layers of contrasting ideas. In this paper, the crankcase group driving mechanism with clearance and clearance is not considered, and the correctness of the results is verified by the horizontal and longitudinal comparison of simulation and experiment.
【學(xué)位授予單位】：陜西科技大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TH112

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本文編號：2292045