發(fā)布時(shí)間：2019-06-03 01:02

【摘要】：柔順機(jī)構(gòu)是一種可以利用自身柔性構(gòu)件的彈性變形來(lái)轉(zhuǎn)換運(yùn)動(dòng)、力和能量的新型機(jī)構(gòu)。與傳統(tǒng)的剛性機(jī)構(gòu)相比,由于它免去了運(yùn)動(dòng)副間的裝配和摩擦磨損,因而表現(xiàn)出許多優(yōu)點(diǎn),近年來(lái)已成為國(guó)內(nèi)外機(jī)構(gòu)學(xué)領(lǐng)域的一個(gè)研究熱點(diǎn)。柔順機(jī)構(gòu)具有獨(dú)特的性能和廣泛的應(yīng)用前景,但是對(duì)于大變形造成的幾何非線(xiàn)性導(dǎo)致柔順機(jī)構(gòu)的分析和設(shè)計(jì)變得非常困難。由Howell提出的偽剛體模型法將柔順機(jī)構(gòu)的非線(xiàn)性問(wèn)題轉(zhuǎn)化為等效剛性機(jī)構(gòu)的線(xiàn)性問(wèn)題來(lái)求解,為柔順機(jī)構(gòu)的研究奠定了基礎(chǔ)。后來(lái)學(xué)者陸續(xù)提出了2R、PR偽剛體模型,但這些偽剛體模型自由度不足,導(dǎo)致其模擬精度和范圍有限,限制了其進(jìn)一步應(yīng)用。針對(duì)上述問(wèn)題,本文在現(xiàn)有模型的基礎(chǔ)上,增加偽剛體模型的自由度,提出一種帶軸向變形的多自由度PRR偽剛體模型,考慮多種復(fù)雜載荷情況,建立了相應(yīng)的偽剛體新模型,并對(duì)該模型進(jìn)行了相關(guān)研究。主要內(nèi)容歸納如下:1、針對(duì)末端受力矩載荷時(shí)的柔順桿,建立大變形柔順機(jī)構(gòu)的PRR偽剛體模型。將力矩載荷施加到模型的末端,采用參數(shù)近似化法建立模型特征半徑系數(shù)的三維搜索過(guò)程,并對(duì)偽剛體模型中移動(dòng)副引起的軸向位移占整個(gè)軸向移動(dòng)的比例做定量分析。研究表明,在力矩載荷作用下,該移動(dòng)副幾乎不發(fā)生軸向位移,此時(shí)PRR模型與2R偽剛體模型基本一致。2、針對(duì)末端受力載荷的柔順桿,建立大變形柔順機(jī)構(gòu)的PRR偽剛體模型。通過(guò)運(yùn)動(dòng)學(xué)正解得出模型特征參數(shù)的數(shù)值表達(dá)式,運(yùn)用參數(shù)化近似法建立程序求解框圖,運(yùn)用線(xiàn)性回歸法擬合模型的剛度系數(shù)。利用數(shù)值分析軟件,通過(guò)與現(xiàn)有偽剛體模型以及柔順桿的末端軌跡特征進(jìn)行分析對(duì)比,表明PRR偽剛體模型的模擬精度進(jìn)一步提高。3、針對(duì)末端受復(fù)合載荷形式的柔順桿,建立大變形柔順機(jī)構(gòu)的PRR偽剛體模型。將載荷比進(jìn)行極端化處理,推導(dǎo)出兩種極端載荷形式下偽剛體模型的數(shù)學(xué)表達(dá)式。通過(guò)建立三維搜索程序和線(xiàn)性擬合方法求解出模型的特征參數(shù),通過(guò)與其他模型對(duì)比分析驗(yàn)證了受復(fù)合載荷時(shí)PRR模型的優(yōu)越性。4、將受不同載荷時(shí)的PRR偽剛體模型應(yīng)用到平面柔順機(jī)構(gòu)中,建立柔順?biāo)臈U機(jī)構(gòu)和柔順曲柄-滑塊機(jī)構(gòu)的PRR偽剛體模型,通過(guò)力-變形分析得出滑塊位移和曲柄轉(zhuǎn)角關(guān)系的曲線(xiàn)圖及柔順?biāo)臈U機(jī)構(gòu)中柔順桿末端的位姿變化圖,通過(guò)與有限元分析結(jié)果對(duì)比,驗(yàn)證了PRR偽剛體模型在實(shí)際柔順機(jī)構(gòu)應(yīng)用中的有效性。
[Abstract]:Compliance mechanism is a new type of mechanism which can transform motion, force and energy by using the elastic deformation of its own flexible components. Compared with the traditional rigid mechanism, it has shown many advantages because it eliminates the assembly and friction and wear between moving pairs, so it has become a research hot spot in the field of mechanism at home and abroad in recent years. Compliant mechanism has unique performance and wide application prospect, but it is very difficult to analyze and design compliant mechanism because of geometric nonlinear caused by large deformation. The pseudo-rigid body model method proposed by Howell converts the nonlinear problem of compliant mechanism into the linear problem of equivalent rigid mechanism, which lays a foundation for the research of compliant mechanism. Later, scholars put forward 2R, PR pseudo-rigid body model one after another, but these pseudo-rigid body models have insufficient degree of freedom, which leads to the limited simulation accuracy and range, which limits its further application. In order to solve the above problems, a multi-degree-of-freedom PRR pseudo-rigid body model with axial deformation is proposed by adding the degrees of freedom of the pseudo-rigid body model on the basis of the existing models. Considering a variety of complex loads, a new pseudo-rigid body model is established. The model is also studied. The main contents are summarized as follows: 1. The PRR pseudo-rigid body model of large deformation compliance mechanism is established for the compliant rod loaded with moment at the end. The torque load is applied to the end of the model, and the three-dimensional search process of the characteristic radius coefficient of the model is established by using the parameter approximate method, and the proportion of the axial displacement caused by the moving pair in the pseudo-rigid body model to the whole axial movement is quantitatively analyzed. The results show that the axial displacement of the moving pair almost does not occur under torque load, and the PRR model is basically consistent with the 2R pseudo-rigid body model. 2, the PRR pseudo-rigid body model of large deformation compliant mechanism is established for the compliant rod loaded at the end of the force. The numerical expression of the characteristic parameters of the model is obtained by the forward kinematic solution, the program block diagram is established by using the parametric approximate method, and the stiffness coefficient of the model is fitted by the linear regression method. By using the numerical analysis software, the simulation accuracy of the PRR pseudo-rigid body model is further improved by comparing with the existing pseudo-rigid body model and the end trajectory characteristics of the compliant rod. 3, for the compliant rod in the form of composite load at the end, The PRR pseudo-rigid body model of large deformation compliant mechanism is established. The load ratio is extreme treated, and the mathematical expressions of the pseudo-rigid body model under two extreme load forms are derived. The characteristic parameters of the model are solved by establishing three-dimensional search program and linear fitting method, and the superiority of PRR model under compound load is verified by comparing with other models. The PRR pseudo-rigid body model under different loads is applied to the plane compliant mechanism, and the PRR pseudo-rigid body model of compliant four-bar mechanism and compliant crank-slider mechanism is established. Through force-deformation analysis, the curve diagram of the relationship between slider displacement and crank angle and the pose change diagram at the end of flexible four-bar mechanism are obtained, and the results are compared with those of finite element analysis. The effectiveness of PRR pseudo-rigid body model in practical compliance mechanism is verified.
【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】：2016
【分類(lèi)號(hào)】：TH112

【相似文獻(xiàn)】

相關(guān)期刊論文 前10條

1 邱麗芳;霍明磊;李威;;六桿柔順機(jī)構(gòu)的偽剛體模型[J];北京科技大學(xué)學(xué)報(bào);2013年05期

2 田亞平;康軍鳳;;基于3R偽剛體模型的柔順桿動(dòng)力學(xué)建模及分析[J];機(jī)械傳動(dòng);2013年05期

3 于會(huì)濤;孫洪;馬培蓀;;基于偽剛體模型法的柔順機(jī)構(gòu)驅(qū)動(dòng)特性研究[J];傳動(dòng)技術(shù);2006年04期

4 馮忠磊;余躍慶;王雯靜;;模擬柔順機(jī)構(gòu)中柔順桿件末端特征的2R偽剛體模型[J];機(jī)械工程學(xué)報(bào);2011年01期

5 李姣;李瑞琴;;平面柔順機(jī)構(gòu)偽剛體模型的動(dòng)力學(xué)分析[J];建設(shè)機(jī)械技術(shù)與管理;2012年12期

6 季宏宇;;改進(jìn)算法的非剛體模型碰撞檢測(cè)研究[J];硅谷;2011年22期

7 胡永陶,符世祥,曾建華,洪景豐;脈沖堆堆芯結(jié)構(gòu)抗震分析[J];核動(dòng)力工程;1991年01期

8 邢宇帆;應(yīng)用剛體模型表面瞬壓積分法研究高層建筑脈動(dòng)響應(yīng)[J];廣州建筑;2001年02期

9 王營(yíng);張興準(zhǔn);;系統(tǒng)運(yùn)動(dòng)對(duì)彈性梁固有頻率的影響[J];振動(dòng)與沖擊;1990年02期

10 邱麗芳;楚紅巖;楊德斌;王濤;;基于偽剛體模型的多層LEMs建模與仿真[J];農(nóng)業(yè)機(jī)械學(xué)報(bào);2013年09期

相關(guān)會(huì)議論文 前1條

1 吳永禎;張本悟;趙志成;武清璽;;人體有限塊剛體模型的動(dòng)力學(xué)計(jì)算[A];第四屆全國(guó)運(yùn)動(dòng)生物力學(xué)學(xué)術(shù)會(huì)議論文集（一）[C];1983年

相關(guān)博士學(xué)位論文 前1條

1 戴瑜;履帶式集礦機(jī)海底行走的單剛體建模研究與仿真分析[D];中南大學(xué);2010年

相關(guān)碩士學(xué)位論文 前8條

1 艾森;大型整流罩分離仿真研究[D];大連理工大學(xué);2015年

2 劉晗;散貨船結(jié)構(gòu)輕量化及振動(dòng)控制研究[D];濟(jì)南大學(xué);2015年

3 路建鵬;帶軸向變形的柔順機(jī)構(gòu)多自由度偽剛體模型研究[D];中北大學(xué);2016年

4 馮忠磊;柔順機(jī)構(gòu)的2R偽剛體模型研究[D];北京工業(yè)大學(xué);2010年

5 孫東波;柔順儲(chǔ)能腳的偽剛體建模研究[D];燕山大學(xué);2010年

6 崔錦羽;基于虛擬樣機(jī)的ATV舒適性仿真分析[D];重慶大學(xué);2008年

7 匡振中;基于內(nèi)容的非剛體模型檢索的研究[D];中國(guó)石油大學(xué)（華東）;2013年

8 張建銳;大變形柔順?lè)律愕膭偠忍匦匝芯縖D];燕山大學(xué);2009年

，

本文編號(hào)：2491554