本文選題：冗余驅(qū)動并聯(lián)機構　切入點：構型綜合　出處：《北京交通大學》2013年博士論文　論文類型：學位論文

【摘要】：針對現(xiàn)代裝備的高性能要求,本文提出利用冗余驅(qū)動并聯(lián)機構來提升技術裝備的整體驅(qū)動能力和提高機構的容錯性能,并系統(tǒng)研究驅(qū)動冗余并聯(lián)機構的構型綜合理論。 提出了一種系統(tǒng)綜合冗余驅(qū)動并聯(lián)機構的方法。選擇單環(huán)機構或者多環(huán)機構作為機構的支鏈驅(qū)動單元,將機構可能的約束耦合在支鏈單元內(nèi)完成,從而獲得非過約束的或者低次過約束的冗余驅(qū)動并聯(lián)機構。基于上述的構型方法,對具有三轉(zhuǎn)動、三移動、兩轉(zhuǎn)動一移動、兩移動一轉(zhuǎn)動和四、五自由度運動的冗余驅(qū)動并聯(lián)機構進行了構型綜合,得到了系列構型。 基于獨立參數(shù)的設計需求,給出了冗余驅(qū)動并聯(lián)機構的一般演化過程。不考慮機構末端動平臺的自由度形式,空間剛體的位置和姿態(tài)可以由選定的與剛體固聯(lián)的不共線三點決定。選定與動平臺固聯(lián)點的實現(xiàn)形式：空間點、平面點和直線點,通過單環(huán)或者多環(huán)機構實現(xiàn)固聯(lián)點的運動,即可得到冗余驅(qū)動并聯(lián)機構的系列構型。 通過添加冗余驅(qū)動支鏈的方式,對機構可能出現(xiàn)的伴隨運動進行了消除。針對典型的3-UPU并聯(lián)機構總是存在非期望轉(zhuǎn)動這一情況,進行了分析評估和規(guī)避研究�？紤]約束誤差對伴隨轉(zhuǎn)動的影響,約束螺旋與伴隨轉(zhuǎn)動之間的互易積將不再等于零,即：約束螺旋對伴隨轉(zhuǎn)動存在做功現(xiàn)象。基于此,得到了伴隨轉(zhuǎn)動自由度運動的范數(shù)表達,并以此作為衡量指標檢驗了誤差約束對非期望轉(zhuǎn)動的影響幅度。最后,提出了通過添加冗余驅(qū)動支鏈的方法,對機構可能出現(xiàn)的伴隨運動進行消除。 提出了一種新型4-UPU冗余驅(qū)動并聯(lián)機構。該機構以2-UPU單環(huán)機構作為基礎構型單元,消除了UPU類并聯(lián)機構可能存在的伴隨運動。此冗余驅(qū)動并聯(lián)機構具有簡單的正運動學求解,并且只有一種可以完全規(guī)避的結(jié)構奇異。當某一個驅(qū)動支鏈出現(xiàn)故障鎖住時,機構動平臺依然能夠?qū)崿F(xiàn)部分的空間移動運動,通過求解得到機構的容錯工作空間。
[Abstract]:In order to meet the high performance requirements of modern equipment, this paper proposes to improve the overall driving capability of technical equipment and the fault-tolerant performance of the mechanism by using redundant drive parallel mechanism, and systematically studies the configuration synthesis theory of drive redundant parallel mechanism. In this paper, a method of synthesizing redundant parallel mechanism is proposed. The single ring mechanism or multi-ring mechanism is chosen as the branch chain driving unit of the mechanism, and the possible constraints of the mechanism are coupled in the branch chain unit. Thus, a redundant parallel mechanism with non-overconstrained or low-order overconstraints is obtained.; based on the above configuration method, a parallel mechanism with three rotations, three moves, two rotations and one movement, two moves and one rotation and four are obtained. The configuration synthesis of the redundant parallel mechanism with five degrees of freedom is carried out, and a series of configurations are obtained. Based on the design requirements of independent parameters, the general evolution process of redundant drive parallel mechanism is given. The position and attitude of the spatial rigid body can be determined by the non-collinear three points of the rigid body fixed to the rigid body. The realization form of the fixed point with the moving platform is selected: the space point, the plane point and the straight line point, and the motion of the fixed point is realized through the single ring or multi-ring mechanism. The series configuration of redundant drive parallel mechanism can be obtained. In this paper, the possible accompanying motion of the mechanism is eliminated by adding redundant driving branchlets. For the typical 3-UPU parallel mechanism, there is always an unexpected rotation. Analysis, evaluation and circumvention are carried out. Considering the effect of constraint error on the accompanying rotation, the reciprocal product between the constraint screw and the accompanying rotation will no longer be equal to zero, that is, the work of the constraint screw on the accompanying rotation will not be equal to zero. The norm expression of motion with rotational degrees of freedom is obtained, and the influence of error constraints on unexpected rotation is tested as a measure. Finally, the method of adding redundant driving branching chains is proposed. Eliminate the possible accompanying movement of the mechanism. A novel 4-UPU redundant drive parallel mechanism is proposed, in which the 2-UPU single loop mechanism is used as the basic configuration unit to eliminate the possible adjoint motion of the UPU parallel mechanism. The redundant drive parallel mechanism has simple forward kinematics solution. And there is only one structure singularity that can be avoided completely. When a fault lock-in of a driving branch chain occurs, the mechanism moving platform can still realize part of the spatial moving motion, and the fault-tolerant workspace of the mechanism can be obtained by solving the problem.
【學位授予單位】：北京交通大學
【學位級別】：博士
【學位授予年份】：2013
【分類號】：TH112

【引證文獻】

相關碩士學位論文 前1條

1 羅中海;調(diào)姿機構力/位置混合控制系統(tǒng)設計[D];浙江大學;2014年

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本文編號：1595506