發(fā)布時(shí)間：2018-02-28 21:05

  本文關(guān)鍵詞： RCCR 靜不定 動(dòng)靜法 柔性體 力學(xué)仿真　出處：《鄭州大學(xué)》2011年碩士論文　論文類(lèi)型：學(xué)位論文

【摘要】：空間RCCR機(jī)構(gòu)是一種較新型的聯(lián)軸器結(jié)構(gòu),它能在輸入軸和輸出軸軸線(xiàn)夾角很大的情況下傳遞運(yùn)動(dòng)和動(dòng)力。目前對(duì)該類(lèi)型機(jī)構(gòu)的研究還不是太深入,對(duì)于三對(duì)傳力桿的RCCR機(jī)構(gòu)各構(gòu)件的受力情況還未進(jìn)行分析。本文從課題組研究的需要出發(fā),在課題組前期對(duì)單對(duì)傳力桿的RCCR機(jī)構(gòu)研究的基礎(chǔ)上對(duì)三對(duì)傳力桿的RCCR機(jī)構(gòu)進(jìn)行力學(xué)分析。 本文從簡(jiǎn)單的力學(xué)模型開(kāi)始,對(duì)三對(duì)傳力桿空間相交軸RCCR機(jī)構(gòu)做了靜力分析,即在不考慮運(yùn)動(dòng)副的摩擦力和各構(gòu)件的重力及慣性力的情況下求解了機(jī)構(gòu)中各運(yùn)動(dòng)副的約束反力和約束力矩。在求解過(guò)程中利用輸入軸和輸出軸之間的轉(zhuǎn)角差找到了各傳力桿之間的變形協(xié)調(diào)關(guān)系,從而使該機(jī)構(gòu)的力學(xué)靜不定問(wèn)題得到解決。理論計(jì)算表明,三對(duì)傳力桿的RCCR機(jī)構(gòu)各構(gòu)件的受力情況要比單對(duì)傳力桿的情況改善很多,且該機(jī)構(gòu)已不存在死點(diǎn)位置,輸出軸的轉(zhuǎn)向也具有確定性。之后又分析了機(jī)構(gòu)的各個(gè)主要結(jié)構(gòu)參數(shù)對(duì)機(jī)構(gòu)中各運(yùn)動(dòng)副的約束反力和約束力矩的影響。 用SolidWorks建立了該機(jī)構(gòu)的剛體模型,然后將各構(gòu)件的模型導(dǎo)入ADAMS中。建立各傳力桿的柔性體模型,利用柔性體替換剛性體的方法建立該機(jī)構(gòu)的剛體—柔體混合模型。為了解決柔性體傳力桿的外連點(diǎn)與相應(yīng)圓柱副約束反力的作用點(diǎn)不是始終重合的矛盾,建立了20個(gè)該機(jī)構(gòu)在不同輸入軸轉(zhuǎn)角位置時(shí)的剛體—柔體混合模型。對(duì)機(jī)構(gòu)進(jìn)行靜力學(xué)仿真,結(jié)果表明理論分析與仿真結(jié)果非常吻合。 利用輸入軸與輸出軸的轉(zhuǎn)角差求出了輸出軸的角速度和角加速度,理論上證明了輸出軸的角速度存在波動(dòng)、輸出軸的角加速度不為零。在此基礎(chǔ)上,求出了各傳力桿的速度、加速度和慣性力。然后運(yùn)用動(dòng)靜法對(duì)該機(jī)構(gòu)進(jìn)行了動(dòng)力學(xué)分析。對(duì)機(jī)構(gòu)進(jìn)行動(dòng)力學(xué)仿真,結(jié)果表明,仿真結(jié)果與理論分析基本上是一致的。
[Abstract]:The spatial RCCR mechanism is a new type of coupling structure, which can transfer motion and force when the angle between the input axis and output axis is very large. At present, the research on this type of mechanism is not too deep. The stress of RCCR mechanism with three pairs of force transfer rods has not been analyzed. On the basis of the research of RCCR mechanism of single pair of force transfer rods in the early stage of the research group, the mechanical analysis of RCCR mechanism of three pairs of force transfer rods is carried out. In this paper, starting with a simple mechanical model, the static analysis of three pairs of force transfer bar spatial intersecting axis RCCR mechanism is done. That is, without considering the friction force of the motion pair and the gravity and inertia force of each component, the constrained reaction force and the constraint moment of the motion pair in the mechanism are solved. In the process of solving the problem, the angle difference between the input axis and the output shaft is used to find out the difference between the input axis and the output axis. When the deformation coordination relationship between the transmission rods is reached, The theoretical calculation shows that the mechanical static uncertainty of the RCCR mechanism with three pairs of force transfer rods is much better than that of the single pair, and that there is no dead point position in the mechanism. The steering of the output shaft is also deterministic, and the influence of the main structural parameters of the mechanism on the constrained reaction force and the constraint moment of the kinematic pair in the mechanism is analyzed. The rigid body model of the mechanism is established by using SolidWorks, and then the model of each component is introduced into ADAMS, and the flexible body model of each force transfer rod is established. The rigid-flexible body hybrid model of the mechanism is established by replacing the rigid body with the flexible body. In order to solve the contradiction that the external connection point of the force transfer rod of the flexible body does not always coincide with the action point of the constrained reaction force of the corresponding cylindrical pair, A hybrid rigid-flexible body model of 20 mechanisms with different input shaft rotation angles is established. Static simulation of the mechanism shows that the theoretical analysis is in good agreement with the simulation results. The angular velocity and angular acceleration of the output shaft are calculated by using the angular difference between the input shaft and the output shaft. It is proved theoretically that the angular velocity of the output shaft is fluctuating, and the angular acceleration of the output shaft is not zero. Acceleration and inertial force. Then the dynamic analysis of the mechanism is carried out by using the static and static method. The dynamic simulation of the mechanism shows that the simulation results are basically consistent with the theoretical analysis.
【學(xué)位授予單位】：鄭州大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2011
【分類(lèi)號(hào)】：TH112

【引證文獻(xiàn)】

相關(guān)碩士學(xué)位論文 前3條

1 沈紫樂(lè);轉(zhuǎn)子不對(duì)中故障識(shí)別技術(shù)研究[D];鄭州大學(xué);2012年

2 熊淵;基于球面4R機(jī)構(gòu)的運(yùn)動(dòng)學(xué)和力學(xué)理論與仿真對(duì)比研究[D];鄭州大學(xué);2012年

3 程果;三對(duì)傳力桿空間相交軸RCCR機(jī)構(gòu)的力學(xué)分析—傳力桿受推力時(shí)的影響[D];鄭州大學(xué);2012年

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本文編號(hào)：1548949