本文選題：高速細長桿并聯(lián)機構(gòu)　切入點：穩(wěn)定性模型構(gòu)建　出處：《蘇州大學(xué)》2012年碩士論文

【摘要】：由于并聯(lián)機構(gòu)具有穩(wěn)定性好、無累計誤差、位置調(diào)整靈活、運動精度高等特點，以致，在現(xiàn)代化生產(chǎn)過程中，如高速食品包裝、分揀、物料分類等場合使用，其生產(chǎn)效率顯著。但是，隨著并聯(lián)機構(gòu)的速度和運動精度的提高，其對運動的穩(wěn)定性問題的研究越來越重要。本課題主要針對高速細長桿支撐并聯(lián)機構(gòu)穩(wěn)定性及結(jié)構(gòu)參數(shù)優(yōu)化等問題開展研究。 研究主要內(nèi)容和創(chuàng)新點如下： (1)首先通過對并聯(lián)機構(gòu)國內(nèi)外研究現(xiàn)狀的分析研究，確立了本課題的主要研究內(nèi)容是：構(gòu)建細長桿支撐并聯(lián)機構(gòu)的穩(wěn)定性計算模型以及并聯(lián)機構(gòu)運動型模型；通過對細長支撐件并聯(lián)機構(gòu)的靈巧度和剛度分析，對并聯(lián)機構(gòu)的結(jié)構(gòu)進行參數(shù)優(yōu)化；利用有限元分析軟件對細長桿支撐并聯(lián)機構(gòu)進行仿真實驗，驗證該理論方法的可行性和可靠性。 (2)針對細長桿支撐并聯(lián)機構(gòu)穩(wěn)定性問題，通過對桿結(jié)構(gòu)穩(wěn)定性理論的學(xué)習(xí)，結(jié)合本課題細長支撐件并聯(lián)機構(gòu)，分析了支撐桿的失穩(wěn)類型、屈曲準則以及在ANSYS軟件中屈曲分析的方法，構(gòu)建出并聯(lián)機構(gòu)細長支撐件的穩(wěn)定性計算模型。 (3)通過對高速細長桿支撐并聯(lián)機構(gòu)的工作原理的分析，設(shè)計出其具體參數(shù)，從而建立了并聯(lián)機構(gòu)的運動學(xué)模型。 (4)通過對高速細長支撐桿的靈巧度、剛度等參數(shù)的分析研究，構(gòu)建了參數(shù)表達式，再對其進行線性優(yōu)化分析，得出高速并聯(lián)機構(gòu)細長支撐桿的最優(yōu)參數(shù)。 (5)通過建立高速并聯(lián)機構(gòu)力學(xué)模型，得到了動平臺位置變化時，各支撐桿的受力變化。然后，在支撐桿的長短、粗細不同的情況下，運用ANSYS Workbench軟件分別對高速并聯(lián)機構(gòu)細長支撐桿以及整體并聯(lián)機構(gòu)進行穩(wěn)性分析，通過對比分析，，得出了失穩(wěn)力的變化規(guī)律，從而可設(shè)計出穩(wěn)定性最優(yōu)的高速細長桿支撐并聯(lián)機構(gòu)。 本課題主要創(chuàng)新點： (1)針對當(dāng)今高速、高精度并聯(lián)機構(gòu)的發(fā)展應(yīng)用，文章提出對高速細長桿支撐并聯(lián)機構(gòu)進行穩(wěn)定性分析。通過研究分析支撐桿的失穩(wěn)類型、屈曲準則以及在ANSYS軟件中屈曲分析的方法，構(gòu)建出高速細長支撐件的失穩(wěn)計算模型。 (2)運用ANSYS Workbench軟件分別對高速并聯(lián)機構(gòu)細長支撐桿以及整體并聯(lián)機構(gòu)進行穩(wěn)定性分析，得出其失穩(wěn)力的變化規(guī)律，可設(shè)計出穩(wěn)定性較優(yōu)的高速細長桿支撐并聯(lián)機構(gòu)。 本課題通過對高速細長桿支撐并聯(lián)機構(gòu)穩(wěn)定性分析及結(jié)構(gòu)參數(shù)優(yōu)化研究，不但構(gòu)建了理論模型，而且對其進行了仿真實驗，為該方法的實際應(yīng)用奠定了理論與仿真基礎(chǔ)。
[Abstract]:Because the parallel mechanism has the characteristics of good stability, no accumulative error, flexible position adjustment and high kinematic precision, it is used in modern production process, such as high speed food packaging, sorting, material classification and so on. However, with the increase of the speed and precision of the parallel mechanism, It is more and more important to study the stability of the motion. This paper mainly focuses on the stability and structural parameters optimization of the high speed slender rod-braced parallel mechanism. The main contents and innovations of the study are as follows:. Firstly, the main research contents of this thesis are as follows: the stability calculation model and the kinematic model of the slender rod supporting parallel mechanism are established by analyzing the current research situation of the parallel mechanism at home and abroad; By analyzing the dexterity and stiffness of the slender support parallel mechanism, the structure parameters of the parallel mechanism are optimized, and the simulation experiment of the slender rod supporting parallel mechanism is carried out by using the finite element analysis software. The feasibility and reliability of the method are verified. Aiming at the problem of the stability of the slender rod supporting parallel mechanism, through the study of the stability theory of the rod structure and the parallel mechanism of the slender support in this paper, the type of instability of the support rod is analyzed. The buckling criterion and the method of buckling analysis in ANSYS software are used to construct the stability calculation model of slender support of parallel mechanism. Based on the analysis of the working principle of the high-speed slender rod supported parallel mechanism, the specific parameters are designed and the kinematics model of the parallel mechanism is established. Through the analysis and study of the dexterity and stiffness of the high speed slender support rod, the parameter expression is constructed, and then the linear optimization analysis is carried out, and the optimum parameters of the slender support rod of the high speed parallel mechanism are obtained. 5) by establishing a mechanical model of high-speed parallel mechanism, the force changes of each supporting rod are obtained when the position of the moving platform changes. Then, in the case of different length and thickness of the supporting rod, ANSYS Workbench software is used to analyze the stability of the slender support rod and the whole parallel mechanism of high speed parallel mechanism respectively. Through the comparison and analysis, the variation law of the instability force is obtained. Thus, a high speed slender rod supporting parallel mechanism with optimal stability can be designed. The main innovation points of this subject are as follows:. 1) in view of the development and application of high-speed and high-precision parallel mechanism, this paper puts forward the stability analysis of high-speed slender rod supporting parallel mechanism. The buckling criterion and the method of buckling analysis in ANSYS software are used to construct the buckling calculation model of high speed slender support. 2) by using ANSYS Workbench software, the stability of the slender support rod and the whole parallel mechanism of the high-speed parallel mechanism are analyzed, and the changing law of the instability force is obtained, and the high speed slender rod supporting parallel mechanism with better stability can be designed. In this paper, the stability analysis and structural parameter optimization of high-speed slender rod supporting parallel mechanism are studied. Not only the theoretical model is constructed, but also the simulation experiment is carried out, which lays a theoretical and simulation foundation for the practical application of this method.
【學(xué)位授予單位】：蘇州大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2012
【分類號】：TH112

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