本文關(guān)鍵詞： 并聯(lián)機構(gòu) 運動學(xué) 工作空間 比例縮放儀 靜力平衡 仿真　出處：《南京理工大學(xué)》2011年碩士論文　論文類型：學(xué)位論文

【摘要】：本文以新構(gòu)型3-(2SPS)并聯(lián)機構(gòu)為分析平臺,進行靜力平衡方案的研究。 首先,建立3-(2SPS)機構(gòu)的數(shù)學(xué)模型,分析其與3-UPU機構(gòu)在運動學(xué)上的內(nèi)在關(guān)系,并求解3-(2SPS)機構(gòu)位置的正反解。然后利用幾何法計算機構(gòu)工作空間在豎直方向與水平方向上的極限值,并通過數(shù)值仿真來分析機構(gòu)相關(guān)設(shè)計尺寸對工作空間的影響以及是否存在空洞現(xiàn)象。接著,以3-UPU機構(gòu)等效代替3-(2SPS)機構(gòu)來建立機構(gòu)的靜力學(xué)模型,并分析驅(qū)動力在工作空間幾個橫截面上的變化狀況。 隨后,提出幾個基于比例縮放儀運動原理的力平衡方案并討論其各自的優(yōu)缺點和應(yīng)用場合。最后運用虛擬樣機技術(shù)分析力平衡方案的平衡效果及在不同工作載荷情況下平衡裝置平衡水平的變化狀態(tài),以及運動鏈中的伸縮桿與套筒對各驅(qū)動力大小的影響。 經(jīng)過對上述內(nèi)容的研究分析得出相關(guān)結(jié)論,為多用途的帶有平衡裝置的3-(2SPS)機構(gòu)樣機優(yōu)化設(shè)計提供具有參考價值的理論依據(jù)。
[Abstract]:In this paper, the static balancing scheme is studied on the basis of the new configuration 3-2 SPS) parallel mechanism. First of all, the mathematical model of 3-U2SPS) mechanism is established, the kinematics relationship between 3-UPU mechanism and 3-UPU mechanism is analyzed, and the forward and inverse solutions of the position of 3-UPU mechanism are solved. Then the geometric method is used to calculate the limit value of the working space of the mechanism in vertical and horizontal direction. Numerical simulation is used to analyze the influence of the design size of the mechanism on the workspace and the existence of voids. Then, the statics model of the mechanism is established by replacing the 3-UPU mechanism with the 3-PU mechanism. The change of driving force in several cross sections of workspace is analyzed. Then, This paper presents several force balancing schemes based on the principle of proportional scaling instrument and discusses their respective advantages and disadvantages and applications. Finally, virtual prototyping technology is used to analyze the balance effect of the force balancing scheme and under different working loads. The varying state of the balance level of the balancing device, And the effect of the telescopic rod and sleeve on the driving force in the motion chain. Through the research and analysis of the above contents, the relevant conclusions are obtained, which provides a theoretical basis for the optimization design of the multi-purpose 3-F-2 SPSs mechanism with a balancing device.
【學(xué)位授予單位】：南京理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2011
【分類號】：TH112

【引證文獻】

相關(guān)碩士學(xué)位論文 前1條

1 高繼良;三平動并聯(lián)機構(gòu)傳動動力學(xué)和雙軸同步控制研究[D];南京理工大學(xué);2012年

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本文編號：1538515