可重構(gòu)球面并聯(lián)機(jī)構(gòu)的構(gòu)型設(shè)計(jì)與工作空間求解方法
發(fā)布時(shí)間：2018-10-29 23:09
【摘要】：可重構(gòu)并聯(lián)機(jī)構(gòu)因其具有良好的適應(yīng)性以及結(jié)構(gòu)和功能的可變特性成為并聯(lián)機(jī)構(gòu)領(lǐng)域的研究熱點(diǎn)之一。球面并聯(lián)機(jī)構(gòu)作為并聯(lián)機(jī)構(gòu)的一種特殊類型,不僅具備了并聯(lián)機(jī)構(gòu)本身承載能力大、結(jié)構(gòu)剛度大、結(jié)構(gòu)對(duì)稱以及運(yùn)動(dòng)慣性小等特點(diǎn),而且末端始終在以所有轉(zhuǎn)動(dòng)副軸線的匯交點(diǎn)為球心的球面上運(yùn)動(dòng),工作空間為球面的一部分,具有空間三維轉(zhuǎn)動(dòng)的運(yùn)動(dòng)特點(diǎn),可作為衛(wèi)星天線的方位跟蹤系統(tǒng),也可作為仿生機(jī)構(gòu)的腕關(guān)節(jié)、肩關(guān)節(jié)、腰關(guān)節(jié)、球面雕刻機(jī)以及各類航空器的地面自動(dòng)跟蹤設(shè)備的結(jié)構(gòu)方案。本文以3-RPR和3-RRP球面并聯(lián)機(jī)構(gòu)為原型機(jī)構(gòu),3-RPRP球面并聯(lián)機(jī)構(gòu)為研究對(duì)象,研究可重構(gòu)球面并聯(lián)機(jī)構(gòu)構(gòu)型的可重構(gòu)方法、運(yùn)動(dòng)學(xué)性能及其工作空間求解方法。全文的主要工作如下:首先,集成3-RPR和3-RRP兩種原型球面并聯(lián)機(jī)構(gòu),使得每條支鏈上均有四個(gè)運(yùn)動(dòng)副。通過(guò)部分運(yùn)動(dòng)副的自鎖完成不同構(gòu)型之間的轉(zhuǎn)換。根據(jù)自鎖的運(yùn)動(dòng)副數(shù)目及其位置進(jìn)行排列組合,集成后的球面并聯(lián)機(jī)構(gòu)的運(yùn)動(dòng)支鏈在不進(jìn)行拆除替換的情況下可重構(gòu)出10種不同自由度以及不同構(gòu)型的運(yùn)動(dòng)支鏈,其中包括兩種原型機(jī)構(gòu)的運(yùn)動(dòng)支鏈,實(shí)現(xiàn)了構(gòu)型之間的無(wú)拆解重構(gòu)。以驅(qū)動(dòng)的安裝位置作為可重構(gòu)3-RPRP球面并聯(lián)機(jī)構(gòu)的設(shè)計(jì)依據(jù),確定RPRP型支鏈中驅(qū)動(dòng)副以及自鎖運(yùn)動(dòng)副的位置。根據(jù)支鏈的運(yùn)動(dòng)副類型和組合順序,對(duì)可重構(gòu)3-RPRP球面并聯(lián)機(jī)構(gòu)的結(jié)構(gòu)進(jìn)行了設(shè)計(jì)。其次,基于螺旋理論建立了可重構(gòu)3-RPRP球面并聯(lián)機(jī)構(gòu)的各個(gè)構(gòu)態(tài)的運(yùn)動(dòng)螺旋系以及反螺旋系,求出了可重構(gòu)3-RPRP球面并聯(lián)機(jī)構(gòu)在不同構(gòu)態(tài)下的公共約束數(shù)和運(yùn)動(dòng)特性,對(duì)機(jī)構(gòu)的自由度進(jìn)行了求解。以機(jī)構(gòu)的幾何關(guān)系為約束條件,用旋轉(zhuǎn)矩陣建立了機(jī)構(gòu)的運(yùn)動(dòng)學(xué)位置封閉正解數(shù)學(xué)模型。然后,提出了一種用于求解可重構(gòu)球面并聯(lián)機(jī)構(gòu)可達(dá)工作空間的三維動(dòng)態(tài)求解法。運(yùn)用該求解方法獲得了3-RPRP球面并聯(lián)機(jī)構(gòu)的可達(dá)工作空間�；跈C(jī)構(gòu)的位置正解,運(yùn)用Matlab軟件編程求解也獲得了3-RPRP球面并聯(lián)機(jī)構(gòu)的可達(dá)工作空間。兩種求解方法的結(jié)果進(jìn)行了對(duì)比,其可達(dá)工作空間面積的誤差率為0.09%,驗(yàn)證了提出的三維動(dòng)態(tài)求解法的正確性。對(duì)對(duì)稱型3-RPR球面并聯(lián)機(jī)構(gòu)的尺度進(jìn)行了綜合。最后,用SolidWorks軟件建立了可重構(gòu)3-RPRP球面并聯(lián)機(jī)構(gòu)的虛擬樣機(jī),根據(jù)目標(biāo)軌跡進(jìn)行了運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)的模擬仿真,分析了機(jī)構(gòu)輸入與輸出之間的耦合關(guān)系。本文設(shè)計(jì)的可重構(gòu)球面并聯(lián)機(jī)構(gòu)實(shí)現(xiàn)了構(gòu)型之間的快速重構(gòu),擴(kuò)大了機(jī)構(gòu)的應(yīng)用范圍以及增強(qiáng)了機(jī)構(gòu)對(duì)環(huán)境的適應(yīng)能力。提出的工作空間的三維動(dòng)態(tài)求解法不僅準(zhǔn)確率高而且可應(yīng)用于其他多種類型的并聯(lián)機(jī)構(gòu)。
[Abstract]:Reconfigurable parallel mechanism has become one of the research hotspots in the field of parallel mechanism because of its good adaptability and variable characteristics of structure and function. As a special type of parallel mechanism, spherical parallel mechanism not only has the characteristics of large bearing capacity, large stiffness, symmetrical structure and small kinematic inertia of parallel mechanism. Moreover, the end always moves on the spherical surface with the intersection point of all axis of rotating pair as the center of the sphere, and the workspace is a part of the sphere, which has the characteristic of three-dimensional space rotation and can be used as the azimuth tracking system of the satellite antenna. It can also be used as the structural scheme of wrist, shoulder, waist joint, spherical engraving machine and ground automatic tracking equipment of all kinds of aircraft. In this paper, taking 3-RPR and 3-RRP spherical parallel mechanism as prototype mechanism and 3-RPRP spherical parallel mechanism as research object, the reconfigurable method, kinematics performance and workspace solution of reconfigurable spherical parallel mechanism are studied. The main work of this paper is as follows: firstly, the two prototype spherical parallel mechanisms, 3-RPR and 3-RRP, are integrated so that there are four kinematic pairs on each branch chain. The transformation of different configurations is accomplished by self-locking of partial kinematic pairs. According to the number and position of self-locking kinematic pairs, the kinematic branching chains of the integrated spherical parallel mechanism can be reconstructed with 10 different degrees of freedom and different configurations without removing and replacing them. It includes two kinds of kinematic branching chain of prototype mechanism, which realizes no disassembly and reconstruction between configurations. The position of the driving pair and the self-locking kinematic pair in the RPRP type branching chain are determined by using the driving position as the basis for the design of the reconfigurable 3-RPRP spherical parallel mechanism. The structure of reconfigurable 3-RPRP spherical parallel mechanism is designed according to the type and combination order of the kinematic pair of the branch chain. Secondly, based on the helical theory, the kinematic helical system and the inverse helical system of the reconfigurable 3-RPRP spherical parallel mechanism are established, and the common constraint numbers and kinematic characteristics of the reconfigurable 3-RPRP spherical parallel mechanism under different configurations are obtained. The degree of freedom of the mechanism is solved. Taking the geometric relation of the mechanism as the constraint condition, the mathematical model of the kinematic position closed forward solution of the mechanism is established by using the rotation matrix. Then, a three dimensional dynamic solution method is proposed to solve the reachable workspace of reconfigurable spherical parallel mechanism. The reachable workspace of 3-RPRP spherical parallel mechanism is obtained by using this method. Based on the forward position solution of the mechanism, the reachable workspace of the 3-RPRP spherical parallel mechanism is also obtained by using Matlab software. The results of the two methods are compared, and the error rate of the reachable workspace area is 0.09, which verifies the correctness of the proposed three-dimensional dynamic solution method. The scale of symmetric 3-RPR spherical parallel mechanism is synthesized. Finally, the virtual prototype of the reconfigurable 3-RPRP spherical parallel mechanism is established by using SolidWorks software. The kinematics and dynamics simulation is carried out according to the target trajectory, and the coupling relationship between the input and output of the mechanism is analyzed. The reconfigurable spherical parallel mechanism designed in this paper realizes the rapid reconstruction between configurations, expands the application scope of the mechanism and enhances the adaptability of the mechanism to the environment. The proposed method not only has high accuracy but also can be applied to other kinds of parallel mechanisms.
【學(xué)位授予單位】：中北大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TH112
[Abstract]:Reconfigurable parallel mechanism has become one of the research hotspots in the field of parallel mechanism because of its good adaptability and variable characteristics of structure and function. As a special type of parallel mechanism, spherical parallel mechanism not only has the characteristics of large bearing capacity, large stiffness, symmetrical structure and small kinematic inertia of parallel mechanism. Moreover, the end always moves on the spherical surface with the intersection point of all axis of rotating pair as the center of the sphere, and the workspace is a part of the sphere, which has the characteristic of three-dimensional space rotation and can be used as the azimuth tracking system of the satellite antenna. It can also be used as the structural scheme of wrist, shoulder, waist joint, spherical engraving machine and ground automatic tracking equipment of all kinds of aircraft. In this paper, taking 3-RPR and 3-RRP spherical parallel mechanism as prototype mechanism and 3-RPRP spherical parallel mechanism as research object, the reconfigurable method, kinematics performance and workspace solution of reconfigurable spherical parallel mechanism are studied. The main work of this paper is as follows: firstly, the two prototype spherical parallel mechanisms, 3-RPR and 3-RRP, are integrated so that there are four kinematic pairs on each branch chain. The transformation of different configurations is accomplished by self-locking of partial kinematic pairs. According to the number and position of self-locking kinematic pairs, the kinematic branching chains of the integrated spherical parallel mechanism can be reconstructed with 10 different degrees of freedom and different configurations without removing and replacing them. It includes two kinds of kinematic branching chain of prototype mechanism, which realizes no disassembly and reconstruction between configurations. The position of the driving pair and the self-locking kinematic pair in the RPRP type branching chain are determined by using the driving position as the basis for the design of the reconfigurable 3-RPRP spherical parallel mechanism. The structure of reconfigurable 3-RPRP spherical parallel mechanism is designed according to the type and combination order of the kinematic pair of the branch chain. Secondly, based on the helical theory, the kinematic helical system and the inverse helical system of the reconfigurable 3-RPRP spherical parallel mechanism are established, and the common constraint numbers and kinematic characteristics of the reconfigurable 3-RPRP spherical parallel mechanism under different configurations are obtained. The degree of freedom of the mechanism is solved. Taking the geometric relation of the mechanism as the constraint condition, the mathematical model of the kinematic position closed forward solution of the mechanism is established by using the rotation matrix. Then, a three dimensional dynamic solution method is proposed to solve the reachable workspace of reconfigurable spherical parallel mechanism. The reachable workspace of 3-RPRP spherical parallel mechanism is obtained by using this method. Based on the forward position solution of the mechanism, the reachable workspace of the 3-RPRP spherical parallel mechanism is also obtained by using Matlab software. The results of the two methods are compared, and the error rate of the reachable workspace area is 0.09, which verifies the correctness of the proposed three-dimensional dynamic solution method. The scale of symmetric 3-RPR spherical parallel mechanism is synthesized. Finally, the virtual prototype of the reconfigurable 3-RPRP spherical parallel mechanism is established by using SolidWorks software. The kinematics and dynamics simulation is carried out according to the target trajectory, and the coupling relationship between the input and output of the mechanism is analyzed. The reconfigurable spherical parallel mechanism designed in this paper realizes the rapid reconstruction between configurations, expands the application scope of the mechanism and enhances the adaptability of the mechanism to the environment. The proposed method not only has high accuracy but also can be applied to other kinds of parallel mechanisms.
【學(xué)位授予單位】：中北大學(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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