【摘要】：攪拌摩擦焊技術(shù)是上世紀(jì)末發(fā)明的新型固相焊接技術(shù),廣泛應(yīng)用在航空航天、汽車、船舶等工業(yè)領(lǐng)域。由于攪拌摩擦焊過程作用力較大,對機床剛度要求高,因此多自由度攪拌摩擦焊機床經(jīng)常采用并聯(lián)結(jié)構(gòu)。本文針對所開發(fā)的3-PRS結(jié)構(gòu)攪拌摩擦焊并聯(lián)頭,根據(jù)其制造和加工中可能存在的誤差,以及厚板攪拌摩擦焊過程的載荷情況,對該結(jié)構(gòu)并聯(lián)頭的精度進行了分析。具體內(nèi)容如下:首先,對3-PRS并聯(lián)機構(gòu)的運動學(xué)進行了研究。包括建立3-PRS并聯(lián)機構(gòu)的數(shù)學(xué)模型和姿態(tài)描述方式,求得了該機構(gòu)的逆解,以及在此基礎(chǔ)上,利用數(shù)值法求出正解。其次,對機構(gòu)的制造安裝誤差對精度的影響進行了研究。包括建立3-PRS機構(gòu)的六自由度等效機構(gòu)來抵消3-PRS機構(gòu)自身約束,找出3-PRS機構(gòu)中所有對精度有影響的制造安裝誤差源并將它們對應(yīng)到六自由度等效機構(gòu)中,采用正解模擬法研究各誤差源的影響。然后,對3-PRS并聯(lián)頭的靜剛度進行了研究。包括對機構(gòu)的整體受力分析,根據(jù)單支路的受力特點將其等效為兩個方向的彈簧,利用有限元方法計算其剛度,在求得各支路變形之后利用動平臺約束方程求最終刀頭點的變形。最后,編寫了3-PRS并聯(lián)機床輔助設(shè)計軟件誤差分析的部分。包括利用MATLAB.GUI編寫受載后刀頭變形計算界面和制造安裝誤差輸入界面以及誤差存在時的正逆解計算界面。然后根據(jù)上面的分析,結(jié)合具體實例進行計算,并與仿真結(jié)果進行對比分析,驗證了軟件的穩(wěn)定性和計算結(jié)果的可靠性。
[Abstract]:Friction stir welding (FSW) is a new solid-state welding technology invented at the end of last century, which is widely used in aerospace, automobile, ship and other industries. The friction stir welding machine with multiple degrees of freedom often adopts parallel structure because of the large force in the process of friction stir welding and the high stiffness of the machine tool. In this paper, the precision of the parallel head of 3-PRS structure is analyzed according to the possible errors in its manufacture and machining and the load in the process of thick plate friction stir welding, aiming at the developed parallel head of friction stir welding (FSW). The main contents are as follows: firstly, the kinematics of 3-PRS parallel mechanism is studied. The mathematical model and attitude description method of 3-PRS parallel mechanism are established, and the inverse solution of the mechanism is obtained. On the basis of this, the forward solution is obtained by numerical method. Secondly, the influence of the manufacturing and installation error of the mechanism on the precision is studied. Including the establishment of the six-degree-of-freedom equivalent mechanism of the 3-PRS mechanism to counteract the constraints of the 3-PRS mechanism itself, to identify all manufacturing and installation error sources in the 3-PRS mechanism that have an impact on the accuracy and to correspond them to the six-degree-of-freedom equivalent mechanism. The positive solution simulation method is used to study the influence of various error sources. Then, the static stiffness of the 3-PRS parallel head is studied. Including the analysis of the whole force of the mechanism, according to the mechanical characteristics of the single branch, it is equivalent to the spring in two directions, and the stiffness of the mechanism is calculated by the finite element method. After the deformation of each branch is obtained, the deformation of the final tool point is obtained by using the constraint equation of the moving platform. Finally, the error analysis part of 3-PRS parallel machine tool aided design software is compiled. It includes the interface for calculating the deformation of the loaded cutter head, the input interface for manufacturing installation error and the interface for calculating the forward and inverse solutions in the presence of errors by using MATLAB.GUI. Then according to the above analysis, combined with a concrete example to carry on the calculation, and carries on the contrast analysis with the simulation result, verifies the software stability and the calculation result reliability.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TG439.8

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