本文關(guān)鍵詞： 混聯(lián)機(jī)床 奇異性 運(yùn)動(dòng)學(xué) 動(dòng)力學(xué) 虛功原理 靜剛度 模態(tài)分析　出處：《中北大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：細(xì)長結(jié)構(gòu)件在航空航天、鐵路運(yùn)輸、國防工業(yè)等領(lǐng)域具有廣泛的應(yīng)用。本文針對細(xì)長結(jié)構(gòu)件進(jìn)行高速加工時(shí)機(jī)床應(yīng)滿足的剛度重量比大、響應(yīng)速度快、加工精度高等性能要求,將一種新型的混聯(lián)機(jī)構(gòu)作為混聯(lián)機(jī)床機(jī)械本體,設(shè)計(jì)出一種新型龍門式五軸聯(lián)動(dòng)混聯(lián)機(jī)床。其主要內(nèi)容概括如下:進(jìn)行了新型龍門式五軸聯(lián)動(dòng)混聯(lián)機(jī)床機(jī)構(gòu)的構(gòu)型設(shè)計(jì)。運(yùn)用螺旋理論分析了該機(jī)床實(shí)現(xiàn)3T2R型運(yùn)動(dòng)模式的原理,提出了驅(qū)動(dòng)件的選取方法,分析了機(jī)床機(jī)構(gòu)的奇異性,提出了減少奇異的參數(shù)設(shè)計(jì)條件。進(jìn)行了新型龍門式五軸聯(lián)動(dòng)混聯(lián)機(jī)床運(yùn)動(dòng)學(xué)分析。運(yùn)用矢量代數(shù)法對機(jī)床進(jìn)行了位置逆解計(jì)算,在已知機(jī)床刀尖點(diǎn)位置和動(dòng)平臺(tái)姿態(tài)的條件下求得各驅(qū)動(dòng)副的輸入量;運(yùn)用影響系數(shù)法求得機(jī)構(gòu)一階運(yùn)動(dòng)影響系數(shù)矩陣——Jacobian矩陣和二階影響系數(shù)矩陣——Hessian矩陣。進(jìn)行了新型龍門式五軸聯(lián)動(dòng)混聯(lián)機(jī)床動(dòng)力學(xué)分析。運(yùn)用虛功原理基于對機(jī)床機(jī)構(gòu)整體虛能量的計(jì)算建立此新型龍門式混聯(lián)機(jī)床機(jī)構(gòu)動(dòng)力學(xué)模型。給出了一個(gè)數(shù)值算例,用ADAMS仿真求證了此機(jī)床機(jī)構(gòu)運(yùn)動(dòng)學(xué)、動(dòng)力學(xué)分析模型的正確性。給出了對一個(gè)細(xì)長結(jié)構(gòu)件進(jìn)行鉆孔加工的實(shí)例,得出了鉆孔加工過程中運(yùn)動(dòng)學(xué)及驅(qū)動(dòng)力的變化規(guī)律。進(jìn)行了新型龍門式五軸聯(lián)動(dòng)混聯(lián)機(jī)床的2-UPS+2-RPU并聯(lián)機(jī)構(gòu)靜剛度分析�；谛∽冃委B加原理,分析各桿在其約束力螺旋(包括驅(qū)動(dòng)螺旋)作用下產(chǎn)生的彈性變形,建立支鏈約束力螺旋剛度矩陣。通過動(dòng)平臺(tái)靜力平衡及支鏈變形和動(dòng)平臺(tái)變形間的關(guān)系,建立機(jī)構(gòu)的動(dòng)平臺(tái)位姿變化與外載荷關(guān)系,進(jìn)而得到機(jī)構(gòu)的整體柔度、剛度矩陣。得出約束力/矩對這類少自由度過約束并聯(lián)機(jī)構(gòu)的剛度和變形影響很大,且其彈性變形主要產(chǎn)生在約束力/矩軸線方向。對新型龍門式五軸聯(lián)動(dòng)混聯(lián)機(jī)床進(jìn)行了模態(tài)分析�；贏NSYS Workbench軟件對新型龍門式五軸聯(lián)動(dòng)混聯(lián)機(jī)床五種典型位置的模態(tài)進(jìn)行了分析,確定在此位型下的前六階固有頻率及振型,通過振型云圖及振動(dòng)動(dòng)畫分析機(jī)床低階振動(dòng)規(guī)律,確定機(jī)床結(jié)構(gòu)的薄弱環(huán)節(jié),為新型機(jī)床的優(yōu)化設(shè)計(jì)提供參考。本文設(shè)計(jì)的新型龍門式五軸聯(lián)動(dòng)混聯(lián)機(jī)床,其兩軸轉(zhuǎn)動(dòng)能力大約為±40°,解決了目前細(xì)長結(jié)構(gòu)件的加工難題,具有重要的應(yīng)用價(jià)值。
[Abstract]:Slender structural parts are widely used in aerospace, railway transportation, national defense industry and so on. In this paper, the machine tool should meet a large stiffness / weight ratio and fast response speed in high-speed machining of slender structural parts. In order to meet the requirements of high machining precision, a new type of hybrid mechanism is used as the mechanical body of the hybrid machine tool. A new type of gantry five-axis hybrid machine tool is designed. The main contents are summarized as follows:. The configuration design of a new type of gantry five-axis linkage machine tool is carried out, and the principle of realizing 3T2R type motion mode of the machine tool is analyzed by using the helical theory. The selection method of driving parts is put forward, and the singularity of machine tool mechanism is analyzed. The parameter design condition of reducing singularity is put forward. The kinematics analysis of a new type of gantry five-axis linkage machine tool is carried out. The inverse position solution of the machine tool is calculated by using vector algebra method. The input of each driving pair is obtained under the condition that the tip position of the machine tool and the attitude of the moving platform are known. The first order motion influence coefficient matrix and the second order influence coefficient matrix Hessian matrix are obtained by using the influence coefficient method. A new gantry five-axis linkage machine tool is developed. Dynamic analysis. Based on the calculation of the whole virtual energy of the machine tool mechanism, the dynamic model of this new type of gantry hybrid machine tool mechanism is established by using the virtual work principle. A numerical example is given. The correctness of kinematics and dynamics analysis model of this machine tool mechanism is verified by ADAMS simulation. An example of drilling for a slender structure is given. The variation law of kinematics and driving force in drilling process is obtained. A 2-UPS for a new type of gantry five-axis linkage hybrid machine tool is carried out. Static stiffness analysis of 2-RPU parallel mechanism based on the principle of small deformation superposition. The elastic deformation of each rod under the action of its binding screw (including the driving screw) is analyzed, and the stiffness matrix of the branch chain is established. Through the static balance of the moving platform and the relationship between the deformation of the branch chain and the deformation of the moving platform. The relationship between the position and pose of the moving platform and the external load is established, and the overall flexibility and stiffness matrix of the mechanism are obtained. It is concluded that the binding force / moment has great influence on the stiffness and deformation of this small degree of freedom over-constrained parallel mechanism. The elastic deformation is mainly produced in the direction of the binding / moment axis. The modal analysis of a new type of gantry five-axis linkage machine tool is carried out based on ANSYS. Workbench software is used to analyze the modes of five typical positions of a new type of gantry five-axis hybrid machine tool. The first six natural frequencies and modes under this position are determined, and the weak links of machine structure are determined by analyzing the low order vibration law of machine tool by mode cloud diagram and vibration animation. This paper designed a new type of gantry five-axis linkage machine tool, its two-axis rotation capacity is about 鹵40 擄, which solves the processing problem of slender structural parts at present. It has important application value.
【學(xué)位授予單位】：中北大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TG502.1

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