本文關鍵詞： RCCR 靜不定 動靜法 柔性體 力學仿真　出處：《鄭州大學》2011年碩士論文　論文類型：學位論文

【摘要】：空間RCCR機構是一種較新型的聯(lián)軸器結構,它能在輸入軸和輸出軸軸線夾角很大的情況下傳遞運動和動力。目前對該類型機構的研究還不是太深入,對于三對傳力桿的RCCR機構各構件的受力情況還未進行分析。本文從課題組研究的需要出發(fā),在課題組前期對單對傳力桿的RCCR機構研究的基礎上對三對傳力桿的RCCR機構進行力學分析。 本文從簡單的力學模型開始,對三對傳力桿空間相交軸RCCR機構做了靜力分析,即在不考慮運動副的摩擦力和各構件的重力及慣性力的情況下求解了機構中各運動副的約束反力和約束力矩。在求解過程中利用輸入軸和輸出軸之間的轉角差找到了各傳力桿之間的變形協(xié)調關系,從而使該機構的力學靜不定問題得到解決。理論計算表明,三對傳力桿的RCCR機構各構件的受力情況要比單對傳力桿的情況改善很多,且該機構已不存在死點位置,輸出軸的轉向也具有確定性。之后又分析了機構的各個主要結構參數(shù)對機構中各運動副的約束反力和約束力矩的影響。 用SolidWorks建立了該機構的剛體模型,然后將各構件的模型導入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構的剛體—柔體混合模型。為了解決柔性體傳力桿的外連點與相應圓柱副約束反力的作用點不是始終重合的矛盾,建立了20個該機構在不同輸入軸轉角位置時的剛體—柔體混合模型。對機構進行靜力學仿真,結果表明理論分析與仿真結果非常吻合。 利用輸入軸與輸出軸的轉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、輸出軸的角加速度不為零。在此基礎上,求出了各傳力桿的速度、加速度和慣性力。然后運用動靜法對該機構進行了動力學分析。對機構進行動力學仿真,結果表明,仿真結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.
【學位授予單位】：鄭州大學
【學位級別】：碩士
【學位授予年份】：2011
【分類號】：TH112

【引證文獻】

相關碩士學位論文 前3條

1 沈紫樂;轉子不對中故障識別技術研究[D];鄭州大學;2012年

2 熊淵;基于球面4R機構的運動學和力學理論與仿真對比研究[D];鄭州大學;2012年

3 程果;三對傳力桿空間相交軸RCCR機構的力學分析—傳力桿受推力時的影響[D];鄭州大學;2012年

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本文編號：1548949