本文選題：Stewart并聯(lián)機(jī)構(gòu)　切入點(diǎn)：評(píng)價(jià)指標(biāo)　出處：《哈爾濱工業(yè)大學(xué)》2011年碩士論文

【摘要】：Stewart并聯(lián)機(jī)構(gòu)是近年來(lái)機(jī)器人領(lǐng)域的又一熱點(diǎn)研究方向,由于其結(jié)構(gòu)形式的特殊性,并聯(lián)機(jī)器人彌補(bǔ)了串連機(jī)器人剛度低、負(fù)載能力差、關(guān)節(jié)累積誤差大等缺點(diǎn),為機(jī)器人領(lǐng)域做了很好的補(bǔ)充。并聯(lián)機(jī)構(gòu)在近20年發(fā)展迅猛,已經(jīng)成功的運(yùn)用于運(yùn)動(dòng)模擬器、并聯(lián)機(jī)床、工業(yè)生產(chǎn)線、高精度醫(yī)療設(shè)備等相關(guān)的領(lǐng)域中。 雖然Stewart并聯(lián)機(jī)構(gòu)有許多優(yōu)點(diǎn),但它由六個(gè)支腿同時(shí)驅(qū)動(dòng)運(yùn)動(dòng)平臺(tái)的運(yùn)動(dòng),支腿之間的耦合運(yùn)動(dòng)特性非常明顯,這就給并聯(lián)機(jī)構(gòu)的運(yùn)動(dòng)學(xué)正解帶來(lái)了非常大的困難,因此也就引起了容易產(chǎn)生奇異位形、靈活性差等一系列的缺點(diǎn),在并聯(lián)機(jī)構(gòu)的設(shè)計(jì)中如何避免這些缺點(diǎn)使機(jī)構(gòu)的性能達(dá)到最佳就成為一個(gè)艱巨的任務(wù)。 本文從反解運(yùn)算著手展開對(duì)Stewart并聯(lián)機(jī)構(gòu)基礎(chǔ)理論的研究,推導(dǎo)了運(yùn)動(dòng)學(xué)方程,運(yùn)用Newton-Euler法和Kane法建立了單剛體、多剛體動(dòng)力學(xué)模型,并以實(shí)際的算例研究了支腿對(duì)整個(gè)質(zhì)量矩陣的影響,之后提出了并聯(lián)機(jī)構(gòu)的性能優(yōu)化指標(biāo),為優(yōu)化的展開做好了理論鋪墊。為了驗(yàn)證所推導(dǎo)方程的正確性,利用ADAMS軟件建立了參數(shù)化的模型,然后進(jìn)行單自由度方向上的運(yùn)動(dòng)仿真,將所得的仿真曲線與理論推導(dǎo)的計(jì)算結(jié)果進(jìn)行對(duì)比,來(lái)研究理論建模的正確性。 在優(yōu)化之前,對(duì)并聯(lián)機(jī)構(gòu)的設(shè)計(jì)參數(shù)與機(jī)構(gòu)性能之間的影響關(guān)系進(jìn)行了研究,得出機(jī)構(gòu)在不同方向運(yùn)動(dòng)時(shí)的特點(diǎn),然后根據(jù)優(yōu)化操作的步驟選取優(yōu)化參數(shù)、確定目標(biāo)函數(shù)及其約束條件、選取優(yōu)化算法,最后得到了優(yōu)化結(jié)果,并對(duì)優(yōu)化結(jié)果展開分析。 最后為了提高設(shè)計(jì)效率,將并聯(lián)機(jī)構(gòu)總體結(jié)構(gòu)設(shè)計(jì)的運(yùn)動(dòng)學(xué)、動(dòng)力學(xué)、工作空間、頻率特性分析、驅(qū)動(dòng)機(jī)構(gòu)設(shè)計(jì)等部分進(jìn)行綜合,編寫了一套通用6自由度Stewart并聯(lián)機(jī)構(gòu)的總體結(jié)構(gòu)設(shè)計(jì)程序。
[Abstract]:Stewart parallel mechanism is a hot research direction in robot field in recent years, because of its special structure, parallel robot for robot series low stiffness, low load capacity, disadvantages of joint accumulated error and so on, do a good supplement to the field of robotics. Parallel mechanism rapid development in the past 20 years, the use of has been successful in motion simulator, parallel machine tool, industrial production line and related fields of high precision medical equipment.
Although the Stewart parallel mechanism has many advantages, but it is made up of six legs while driving motion of the motion platform, coupled motion between the legs is very obvious, this gives the kinematics of parallel mechanism is brought very great difficulty, so it is prone to cause singularities, poor flexibility and a series of the disadvantages, how to avoid these disadvantages make the best performance of the mechanism has become an arduous task in the design of parallel mechanism.
This paper from the inverse operation to start research on the basic theory of Stewart parallel mechanism, the kinematics equation is derived, a single rigid body by using Newton-Euler method and Kane method, multi rigid body dynamics model, and the real example of the influence of the leg to the mass matrix, then puts forward the optimization performance index of parallel mechanism well, the theoretical foundation for the optimization. In order to verify the validity of the equation, establish the parametric model using ADAMS software, and then the motion simulation of the single degree of freedom, the simulation curve and the theoretical derivation of the results of the comparison, to study the correctness of theoretical modeling.
Before optimization, influence between the design parameters and the mechanical performance of parallel mechanism were studied in relation to the mechanism in different direction characteristic, then according to the optimal operation of the step of choosing optimal parameters, determine the target function and constraint condition, optimization algorithm, finally obtains the optimization results, and the optimization results analysis.
Finally, in order to improve the design efficiency, we integrate the kinematics, dynamics, workspace, frequency characteristic analysis and drive mechanism design of the overall structure design of the parallel mechanism, and compile a set of general structure design program of a general 6 degree of freedom Stewart parallel mechanism.

【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2011
【分類號(hào)】：TH112;TP242

【引證文獻(xiàn)】

相關(guān)博士學(xué)位論文 前1條

1 朱德泉;基于聯(lián)合仿真的機(jī)電液一體化系統(tǒng)優(yōu)化設(shè)計(jì)方法研究[D];中國(guó)科學(xué)技術(shù)大學(xué);2012年

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本文編號(hào)：1720552