本文選題：電纜 + 彈性桿非線性力學(xué)��； 參考：《大連海事大學(xué)》2014年博士論文

【摘要】：電纜在汽車(chē)、船舶、飛機(jī)等復(fù)雜機(jī)電產(chǎn)品中占有舉足輕重的地位,特別是隨著復(fù)雜機(jī)電產(chǎn)品向著信息化、輕量化和機(jī)電一體化的發(fā)展,電纜所占比重越來(lái)越大。無(wú)論是傳統(tǒng)的串行設(shè)計(jì)方法還是現(xiàn)行的CAD方法,目前機(jī)電產(chǎn)品中電纜的設(shè)計(jì)、制造及其裝配主要存在因?qū)㈦娎|作為剛性體而導(dǎo)致的設(shè)計(jì)精度差和無(wú)法驗(yàn)證裝配工藝等方面的問(wèn)題。虛擬裝配技術(shù)的出現(xiàn)為電纜的數(shù)字化設(shè)計(jì)與制造帶來(lái)了一種全新的思路。本文主要開(kāi)展基于彈性桿非線性力學(xué)的電纜物性建模及電纜形態(tài)仿真研究,為開(kāi)發(fā)完善的電纜虛擬裝配系統(tǒng)奠定良好的基礎(chǔ)。論文的研究工作主要包括以下幾個(gè)方面：(1)從微分幾何角度出發(fā),在分析曲線和曲桿的幾何學(xué)基礎(chǔ)上,基于彈性桿非線性力學(xué)建立了描述電纜平衡的基本靜力學(xué)模型；(2)針對(duì)理想狀況下電纜兩端約束這一典型邊界條件,以歐拉角為參變量,建立了描述電纜形態(tài)的力學(xué)模型,基于動(dòng)力學(xué)比擬的思想并采用半解析法對(duì)模型進(jìn)行求解；(3)考慮電纜分布力及接觸力接觸復(fù)雜約束下,以歐拉參數(shù)為參變量,建立了描述電纜形態(tài)的力學(xué)模型,結(jié)合逐級(jí)二分離散化的思想和最速下降法對(duì)模型進(jìn)行數(shù)值求解；從變分原理出發(fā),考慮電纜所受不同的幾何約束,建立了描述電纜平衡形態(tài)的統(tǒng)一力學(xué)模型,使之能夠方便地應(yīng)用于電纜的虛擬裝配系統(tǒng)；(4)基于開(kāi)源幾何內(nèi)核系統(tǒng),對(duì)不同邊界條件下的電纜進(jìn)行形態(tài)仿真；基于三維激光掃描技術(shù)建立了電纜形態(tài)測(cè)試試驗(yàn)臺(tái),開(kāi)展了電纜典型平衡形態(tài)的仿真與試驗(yàn)對(duì)比研究；(5)開(kāi)展了基于一款氣動(dòng)力反饋數(shù)據(jù)手套和一款桌面式七自由度力反饋器的人機(jī)交互研究,進(jìn)行了力反饋設(shè)備與虛擬環(huán)境中剛性體之間的力觸覺(jué)交互驗(yàn)證。
[Abstract]:Cable plays an important role in complex mechanical and electrical products such as automobile, ship, aircraft and so on. Especially with the development of complex electromechanical products to information, lightweight and mechatronics, the proportion of cable is more and more important. Whether it is the traditional serial design method or the current CAD method, the design of the cable in the mechanical and electrical products is at present. The fabrication and assembly are mainly caused by the poor design precision and the inability to verify the assembly process caused by the cable as a rigid body. The appearance of virtual assembly technology brings a new idea for the digital design and manufacture of cable. This paper mainly develops the cable physical modeling and cable based on the nonlinear mechanics of elastic rod. The study of morphological simulation lays a good foundation for the development of a perfect cable virtual assembly system. The research work of this paper mainly includes the following aspects: (1) from the point of differential geometry, based on the geometry of curve and curved rod, the basic statics model of cable balance is established based on the nonlinear mechanics of elastic rod. 2) in view of the typical boundary conditions under the ideal condition of the cable, the mechanical model describing the cable form is established with the Euler angle as the parameter. Based on the idea of dynamic analogy and the semi analytical method, the model is solved. (3) considering the complex constraints of the cable distribution force and contact force contact, the Euler parameters are considered as the parameters. The mechanical model describing the cable form is established, and the model is solved numerically with the idea of two separation and dispersion and the method of the fastest descent. Based on the variational principle, considering the different geometric constraints of the cable, a unified mechanical model is established to describe the cable balance form, so that it can be conveniently applied to the virtual assembly system of the cable. (4) based on the open source geometry kernel system, the cable is simulated under different boundary conditions. Based on the three-dimensional laser scanning technology, the cable form test test rig is set up, and the simulation and test comparison of the typical cable balance form is carried out. (5) a pneumatic feedback data glove and a desktop seven self are carried out. The interaction between force feedback device and rigid body in virtual environment is verified by human-machine interaction.
【學(xué)位授予單位】：大連海事大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2014
【分類(lèi)號(hào)】：TM24

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