【摘要】：本文面向航空航天制造業(yè)中鋁合金構(gòu)件加工的需求,以一種空間三坐標(biāo)并聯(lián)動(dòng)力頭——3-PRS并聯(lián)動(dòng)力頭為研究對(duì)象,對(duì)其靜、動(dòng)態(tài)特性進(jìn)行研究,為該類機(jī)床的加工精度和加工效率的提高提供理論依據(jù)。本文以3-PRS并聯(lián)動(dòng)力頭為研究對(duì)象,首先對(duì)其進(jìn)行結(jié)構(gòu)設(shè)計(jì),然后建立了該機(jī)構(gòu)的動(dòng)力學(xué)模型,基于此進(jìn)行靜、動(dòng)特性分析研究。全文所取得的成果總結(jié)如下:首先,采用閉環(huán)矢量法,建立該類并聯(lián)動(dòng)力頭的運(yùn)動(dòng)學(xué)模型,并依托所建的運(yùn)動(dòng)學(xué)模型對(duì)其進(jìn)行運(yùn)動(dòng)學(xué)逆解分析和工作空間分析,旨在明確該并聯(lián)動(dòng)力頭的運(yùn)動(dòng)鏈尺度和運(yùn)動(dòng)極限范圍,從而為該類樣機(jī)的虛擬樣機(jī)結(jié)構(gòu)設(shè)計(jì)提供關(guān)鍵參數(shù)依據(jù)。其次,運(yùn)用三維建模軟件對(duì)3-PRS并聯(lián)動(dòng)力頭的各個(gè)部件進(jìn)行結(jié)構(gòu)設(shè)計(jì),并基于軟件裝配體功能將各個(gè)結(jié)構(gòu)組件裝配,最終形成3-PRS并聯(lián)動(dòng)力頭的虛擬樣機(jī)裝配體。以設(shè)計(jì)出的3-PRS并聯(lián)動(dòng)力頭虛擬樣機(jī)為研究分析對(duì)象,應(yīng)用有限元軟件對(duì)其關(guān)鍵部件進(jìn)行靜力學(xué)仿真分析,旨在獲得關(guān)節(jié)剛度設(shè)計(jì)參數(shù)并進(jìn)一步捕獲樣機(jī)設(shè)計(jì)的薄弱環(huán)節(jié),為3-PRS并聯(lián)動(dòng)力頭的關(guān)鍵部件及裝配體設(shè)計(jì)提供優(yōu)化設(shè)計(jì)理論。然后,基于變形疊加原理與動(dòng)態(tài)子結(jié)構(gòu)綜合思想,通過計(jì)入各運(yùn)動(dòng)鉸鏈的彈性變形以及支鏈體的結(jié)構(gòu)柔度,運(yùn)用變形協(xié)調(diào)關(guān)系建立3-PRS并聯(lián)動(dòng)力頭的系統(tǒng)彈性動(dòng)力學(xué)模型,為研究該類并聯(lián)動(dòng)力頭系統(tǒng)的靜、動(dòng)態(tài)特性能全域快速預(yù)估與性能優(yōu)化設(shè)計(jì)提供堅(jiān)實(shí)的理論基礎(chǔ)。繼而,根據(jù)上述所建3-PRS并聯(lián)動(dòng)力頭的彈性動(dòng)力學(xué)模型,可以簡(jiǎn)化得到該類并聯(lián)動(dòng)力頭的彈性靜力學(xué)模型以及關(guān)節(jié)反力/反力矩方程,進(jìn)而為深入研究該類并聯(lián)動(dòng)力頭的靜剛度特性和關(guān)節(jié)力能提供了分析理論。在對(duì)可達(dá)工作空間內(nèi)靜特性預(yù)估分析的基礎(chǔ)上,深入研究了動(dòng)平臺(tái)位姿轉(zhuǎn)角、機(jī)構(gòu)尺度參數(shù)以及關(guān)節(jié)剛度參數(shù)對(duì)該類并聯(lián)動(dòng)力頭靜特性的內(nèi)在作用機(jī)理與聯(lián)系。最后,研究了3-PRS并聯(lián)動(dòng)力頭系統(tǒng)固有頻率的快速預(yù)估與動(dòng)力學(xué)優(yōu)化設(shè)計(jì),并以動(dòng)平臺(tái)位姿轉(zhuǎn)角、動(dòng)靜平臺(tái)半徑以及支鏈截面尺寸為參數(shù)變量,分析該類機(jī)構(gòu)的低階固有頻率與機(jī)構(gòu)設(shè)計(jì)參數(shù)之間的內(nèi)在關(guān)聯(lián)。本文的研究方法結(jié)合了有限元法和解析法的優(yōu)點(diǎn),同時(shí)兼具有限元法的計(jì)算精度和解析法的效率,也可以擴(kuò)展到其他類型的并聯(lián)機(jī)構(gòu),相關(guān)成果可對(duì)少自由度機(jī)構(gòu)的結(jié)構(gòu)優(yōu)化、提高精度等具有指導(dǎo)意義。
[Abstract]:In order to meet the requirement of aluminum alloy component processing in aerospace manufacturing industry, this paper studies the static and dynamic characteristics of 3-PRS parallel power head, which is a kind of spatial three-dimensional parallel power head. It provides a theoretical basis for the improvement of machining accuracy and efficiency of this kind of machine tools. This paper takes the 3-PRS parallel power head as the research object, designs its structure at first, then establishes the dynamic model of the mechanism. Based on this, the static and dynamic characteristics of the mechanism are analyzed and studied. The results obtained in this paper are summarized as follows: firstly, the kinematics model of this kind of parallel power head is established by using closed loop vector method, and the kinematics inverse solution analysis and workspace analysis are carried out based on the kinematics model. The aim of this paper is to make clear the kinematic chain size and the motion limit range of the parallel power head, so as to provide the key parameter basis for the virtual prototype structure design of this kind of prototype. Secondly, three dimensional modeling software is used to design the structure of each component of 3-PRS parallel power head, and based on the function of software assembly, each structural component is assembled, and finally the virtual prototype assembly of 3-PRS parallel power head is formed. Taking the virtual prototype of 3-PRS parallel power head as the research object, the finite element software is used to simulate and analyze the key parts of the virtual prototype in order to obtain the design parameters of joint stiffness and further capture the weak links of the prototype design. The optimal design theory is provided for the design of the key parts and assembly of the 3-PRS parallel power head. Then, based on the principle of superposition of deformation and the comprehensive idea of dynamic substructure, the elastic dynamic model of 3-PRS parallel power head is established by taking into account the elastic deformation of each moving hinge and the structural flexibility of branch chain. It provides a solid theoretical basis for the study of the static and dynamic characteristics of this kind of parallel power head system. Then, according to the elastodynamic model of the 3-PRS parallel power head, the elastic static model and the joint reaction / torque equation of the parallel power head can be simplified. It provides an analytical theory for studying the static stiffness characteristics and joint force performance of this kind of parallel power head. Based on the analysis of the static characteristics in the reachable workspace, the internal mechanism and relation of the kinematic platform pose angle, the mechanism dimension parameter and the joint stiffness parameter on the static characteristics of the parallel power head are studied. Finally, the fast prediction and dynamic optimization design of the natural frequency of the 3-PRS parallel power head system are studied. The dynamic platform position and pose angle, the dynamic and static platform radius and the sectional size of the branching chain are taken as parameter variables. The relationship between the low order natural frequency of this kind of mechanism and the design parameters of the mechanism is analyzed. The research method in this paper combines the advantages of the finite element method and the analytical method. At the same time, it has the accuracy of the finite element method and the efficiency of the analytical method, and can also be extended to other types of parallel mechanism. The related results can optimize the structure of the mechanism with less degrees of freedom. It is of guiding significance to improve the precision.
【學(xué)位授予單位】：安徽工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TG502

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